基于改进hough变换和FPGA的车道线检测应用
首发时间:2014-06-18
摘要:文中在FPGA上实现了基于改进Hough变换的车道标志线检测。在MATLAB平台上进行仿真来确定车道线检测的具体算法。FPGA实现过程包含:图像采集、图像预处理(含中值滤波和ROI的选取)、Sobel边缘检测、改进Hough变换检测直线、输出检测结果。为更充分使用FPGA的内部资源,使用RAM和乘法器等IP核;为提高检测的实时性,提出划分限定区域的方法来减少投票的目标点数,并且利用分级流水线加快处理速度。实验结果充分表明文中采用的车道线检测算法在标识清楚的路况中具有良好的鲁棒性和实时性。
关键词: FPGA ROI感兴趣区域 Hough变换 Sobel边缘检测 车道线
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Lane lines Detection Application based on Hough Transform and FPGA
Abstract:The lane lines detection has been implemented based on improved Hough transform on FPGA platform. The detailed algorithm is confirmed through simulation on MATLAB. During the FPGA realization ,the parts below are included: the image collection, the pretreatment of median filtering and ROI selection of the intake image, the Sobel edge detection, the detection of the lane lines through the improved Hough transform, the results output. The IP cores such as RAM and multiplier are used to make better use of the resources in FPGA. And the limited area ROI and the method of hierarchically assembly line was put forward in order to improve the real-time detection. Experimental data fully shows that the lane line detection algorithm has good robustness and real-time performance.
Keywords: FPGA ROI Hough_Transform Sobel edge detection lane lines
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