3.1 Edge Intuitively, an edge is a set of connected pixels that lie on the boundary between two regions. Figure 4 shows the results for edges obtained by each differential. The edge-detecting method is an important problem in image processing. Sign in to download full-size image Figure 4. ...
2. Line Detection by Edge Point Grouping 2.1 Grouping Edge Points by Gradient Direction Given an edge point (x i , y i ) and its corresponding Hough transform parameters ( ˆ ρ, ˆ θ), in terms of ρ = x cos θ + y sin θ (1) we have ˆ ρ = Asin( ˆ θ + γ),...
PROBLEM TO BE SOLVED: To provide an edge point extraction device, a lane detection device, and a program that are used to successfully detect a lane with a low processing load.SOLUTION: In an edge point extraction device or a lane detection device, an image processing ECU 32 selects a ...
1.18. To understand this technique, imagine that we have located a distinctive point in the first image and that we are marking all possible points in the object field which could have given rise to it. This will mark out a line of points at various depths in the scene and, when viewed...
and shapes in different environments (e.g., laboratory, road, park, at night, see Supplementary Notes4)and with different LiDAR types (e.g., multi-line spinning LiDARs, non-repetitive scanning LiDARs). Moreover, the high detection accuracy, low detection latency, and training data-free nature...
On the 2D image processing part, an edge extraction is applied on the image by using the Canny edge detection algorithm after the raw image data pre-processing. An easily-operating pixel data mapping mechanism is proposed in our work for corresponding 2D image pixels with 3D point cloud pixels...
给定3D LiDAR点云P_{c},让i成为P_{c}中的一个点i \in P_{c}.P_{s}是与点i在同一扫描线上的一组连续点,均匀分布在i的两侧,|S| 是P_{s}的基数。当前点i的光滑项定义如下:\nabla_{i}=\frac{1}{|S|}\left\|\sum_{j \in P_{s}, j \neq i}\left(\vec{p}_{j}-\vec{p}_{i}...
These research efforts achieved a high detection accuracy due to using matured image processing techniques and methods. However, the performance of such approaches is heavily impacted by the existence of large numbers of non-related objects in point clouds. Also, projecting 2D images to 3D space ...
To ensure that the measurement results can accurately reflect the noise status in the affected area along the railway line, the selected measuring points should be representative. Measuring points are divided into the following three categories: 1. Boundary point: it refers to measuring points laid ...
In recent computer vision field, the processing technology of two-dimensional images is close to maturity, and many researchers have shifted their research focus to three-dimensional scenes that are more in line with the real world [1,2]. In a 3D scene, point cloud plays an important role ...