METHOD OF DETERMINING ROAD BOUNDARIES, SHAPE AND POSITION OF OBJECTS ON ROAD, AND DEVICE THEREFOR Russian patent published in 2015 - IPC G06K9/00 

FIELD: physics, computer engineering.

SUBSTANCE: invention relates to image-based pattern recognition means and can be used to process road environment and road images. Disclosed is a method of determining road boundaries, the shape and position of objects on the road, which includes obtaining frames of a halftone image from a camera mounted on a vehicle, which comprises: forming boundaries of objects by converting the halftone image into a binary image, characterised by first and second binary colours, with indication of the boundaries of the objects of the halftone image with the first binary colour; selecting an image of the road surface by a first single-tone colour inside a closed contour of the road which is bounded by the first binary colour; determining a contour of the left, right and upper boundaries of the image of the road surface; detecting and identifying volumetric objects, the images of which touch the contour of the image of the road surface, by analysing the shape of the contour of the left, right and upper boundaries of the image of the road surface and then determining the position of said objects on the road; selecting, on the image of the road surface, images of flat objects which are situated below the upper boundary of the contour of the image of the road surface and bounded by the first binary colour, by filling said objects with a second single-tone colour, and determining the shape and position of said objects on the road. A device for carrying out said method is also disclosed.

EFFECT: high reliability of recognising road boundaries, road markings, vehicles and other objects.

18 cl, 20 dwg