METHOD FOR DETECTING EXTENDED LINEAR OBJECTS IN AN IMAGE Russian patent published in 2023 - IPC G05D1/00 G06T7/12 

FIELD: image processing.

SUBSTANCE: invention relates to methods for selecting extended linear objects in an image and can be widely used in detecting road marking lines to determine its position on a given vector road map by an unmanned vehicle. A method for detecting extended linear objects in an image, which consists in the fact that during the movement of a vehicle (V) from video cameras, images of the roadway are obtained, individual linear objects of road markings are detected on the image using a fast windowed Hough transform. Image filtering for the development of linear objects of road markings is performed by applying a morphological filter "closing" to the image with a radius of the order of the characteristic width of the road marking line. The detected segments are grouped into sets taking into account the constraint on the angle of the break, a group of broken line segments is approximated, the resulting road marking lines in pixel coordinates are recalculated into metric coordinates on the roadway plane relative to the vehicle.

EFFECT: accuracy of recognition of extended linear objects of complex shape in the image.

1 cl, 2 dwg