作　　者： (魏彤）; (袁磊）;

机构地区： 北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处： 《光电工程》 2017年第7期676-684,共9页

摘　　要： 针对现有盲道识别算法实时性较差的问题,提出一种基于边界跟踪的高实时性盲道识别算法,主要包括精确识别和跟踪识别两个步骤。精确识别步骤主要计算初始帧的灰度共生矩阵,并通过聚类和Hough变换提取图像中盲道的边界直线。之后的跟踪识别步骤利用前一帧盲道边界位置估计当前帧边界所处的小范围ROI(感兴趣区域),在该区域中利用图像灰度梯度特征提取盲道边界位置,并通过判断前后帧盲道边界两侧颜色分布一致性检验跟踪的有效性:一致则有效,继续进行跟踪识别;反之转向精确识别步骤。对该算法进行多次实验,正常光照下每帧图像中盲道的精确识别和跟踪识别时间分别约为0.8 s和0.1 s,综合平均每帧识别时间显著降低,且盲道识别率达到90%以上,同时在阴影环境下的适应性良好。实验结果表明本文算法在保证识别率的前提下可显著提高盲道识别的实时性。 In order to solve the problem that existing blind sidewalk recognition algorithms have bad real-time performance,a highly real-time blind sidewalk recognition algorithm based on boundary tracking is proposed, mainly including accurate recognition and tracking recognition. First, accurate recognition step mainly calculates gray level co-occurrence matrix of the initial frame, and uses clustering and Hough transform to find the boundary lines of blind sidewalk in image. Then tracking recognition step takes over next frame. The location of blind sidewalk＇s boundary in previous frame is used to predict the small-scale region of interest（ROI） of the boundary in current frame, and boundary lines in that region are extracted based on gray gradient feature. After that, the algorithm checks up the validity of tracking by estimating the consistency of color distribution on both sides of the boundary in previous and current frames： tracking is considered to be valid if the consistency is high, and tracking recognition step continues,otherwise accurate recognition step restarts. In many experiments, the time of accurate recognition and tracking recognition in each image frame under normal illumination are about 0.8 s and 0.1 s, respectively, and the average time of recognition per frame decreases significantly while the recognition rate of blind sidewalk is more than 90%.Meanwhile, the adaptability is good in shadow environment. Experimental results indicate that the algorithm can significantly enhance the real-time performance of blind sidewalk recognition in the premise of ensuring the recognition rate.

关 键 词： 盲道识别 高实时性 边界跟踪 视觉导盲仪