Successfully reported this slideshow.
We use your LinkedIn profile and activity data to personalize ads and to show you more relevant ads. You can change your ad preferences anytime.
SREE KAVITHA ENGINEERING COLLEGE
UNDER THE SUPERVISION OF:
Mrs.D.SAILAJA M.Tech,(ph.D).;
Associate Professor.
Karepalli – ...
CONTENTS
• ABSTRACT
• INTRODUCTION
• HDR CAMERA
• LANE DETECTION OF HDR IMAGE
• MERGING OF IMAGES
• DIFFERENTIAL EXPOSED I...
ABSTRACT
Every year many vehicle departure accidents
happen due to the driver's carelessness.
Lane Departure Warning Syste...
 ADAS are systems which can help the drivers in their driving
process. They are designed with a safe Human-Machine Interf...
DIFFICULT SCENES FOR LDWS
Affected by adverse light conditions such as reflective road
surfaces, road with the shadows of ...
HDR CAMERA
LANE DETECTION ON HDR
IMAGE
TAKE DIFFERENTLY EXPOSED IMAGES
Tocci’s method is the most suitable for the real time
system l...
DIFFERENTLY EXPOSED IMAGES
DIFFERENTILY EXPOSED IMAGES
HISTOGRAM OF THE PROPERLY-EXPOSURE IMAGE HISTOGRAM OF UNDER-
EXPOSURE IMAGE
HISTOGRAM OF THE OVER-EXPOSURE
IMAGE
HISTOGRAM...
LANE DETECTION OF HDR
IMAGE
RECOVER THE RESPONSE FUNCTION OF THE CAMERA:
We use the method Debevec proposed to calculate t...
MERG OF HIGH DYNAMIC RANGE
IMAGES
We use the differently exposed images and the
camera response function to merge a 32 bit...
AUTO EXPOSED IMAGE AND HDR IMAGE OF THE SAME SCENE
HISTOGRAM OF THE HDR
IMAGE
EDGE DETECTION
 Edge detection of the image is to detect the
edge of the surrounding pixels have a gray-scale
step-like c...
Image binaryzation
 Before detect the line, we should do the image threshold
segmentation first. Image binaryzation is th...
Hough transform
 The final step of the detection is to detect the boundary of
the lane. Most of the lane are straight lin...
IMPROVED METHOD BASED ON HDR IMAGE
 EXPOSURE FUSION
Exposure fusion is an alternative way to merge high dynamic range
ima...
The improved method
As we all know, color image has red, green, blue channels, in the high
dynamic range merging procedure...
PROCEDURE OF THE METHOD BASED ON HDR IMAGE
FLOW CHART REPRESENTATION
PROCEDURE OF THE IMPROVED
METHOD
IMPROVED METHOD
Lane Departure Warning System (LDWS) is a kind of system
which can relieve the stress of the drivers and reduce traffic
ac...
DISADVANTAGES
Processing of merging HDR image is very time consuming. It
makes HDR image can't be used in real-time LDWS.
...
APPLICATIONS
1)LDWS
2)Lane keeping assistance
3)Blind spot recognition
4)Traffic sinal recognition
5) Pedistrain recogniti...
COMPUTATION TIME
After a series of experiments, we get the
computation time use each method. The average
computation time ...
DETECTION RESULTS
Edge detection result of the auto exposed images
and high dynamic range image
CONCLUSION
We use three images with different exposure to merge a high dynamic
range image and detect the lane in the HDR ...
FUTURE WORK
The average computation time of with the improved method based
on exposure fusion is about 100ms. It meets the...
Technical seminar
Upcoming SlideShare
Loading in …5
×

Technical seminar

580 views

Published on

Dection of Lanes by usin HDR....

VISION SENSORS..

Published in: Education
  • Be the first to comment

Technical seminar

  1. 1. SREE KAVITHA ENGINEERING COLLEGE UNDER THE SUPERVISION OF: Mrs.D.SAILAJA M.Tech,(ph.D).; Associate Professor. Karepalli – 507122,Khammam Dt, TS DEPT OF ELECTRONICS AND COMMUNICATION ENGINEERING A LANE BOUNDARY DETECTION METHOD BASED ON HIGH DYNAMIC RANGE IMAGE PRESENTED BY: K.LAVANYA (11C81A0457)
  2. 2. CONTENTS • ABSTRACT • INTRODUCTION • HDR CAMERA • LANE DETECTION OF HDR IMAGE • MERGING OF IMAGES • DIFFERENTIAL EXPOSED IMAGES • MERG HIGH DYNAMIC RANGE IMAGE • IMPROVED METHOD BASED ON HDR • RESULTS • ADVANTAGES AND DISADVANTAGES • CONCLUSION AND FUTURE SCOPE
  3. 3. ABSTRACT Every year many vehicle departure accidents happen due to the driver's carelessness. Lane Departure Warning System (LDWS) is a kind of system which can relieve the stress of the drivers and reduce traffic accidents. But most traffic scences have greater dynamic range than digital camera at present.
  4. 4.  ADAS are systems which can help the drivers in their driving process. They are designed with a safe Human-Machine Interface and it should increase car safety and more generally road safety.  Nowadays the most common ADAS are navigation system, adaptive cruise control (ACC) system, lane departure warning system (LDWS), lane change assistance system, collision avoidance system, night vision, traffic sign recognition and so on.  Dynamic range is the ratio between the largest light intensity and the smallest possible light intensity values in a scene. The dynamic range in most scenes in the natural environment is larger than 10^5 INTRODUCTION
  5. 5. DIFFICULT SCENES FOR LDWS Affected by adverse light conditions such as reflective road surfaces, road with the shadows of the trees
  6. 6. HDR CAMERA
  7. 7. LANE DETECTION ON HDR IMAGE TAKE DIFFERENTLY EXPOSED IMAGES Tocci’s method is the most suitable for the real time system like the lane departure warning system. Images taken by a camera continuous with changing exposure time. In the first row, the images exposure time are 1/250 second, 1/1000 second, 1/60 second. In the second row, the images exposure time are 1/60 second,1/250second, 1/15 second. We can find out a lot of pixels are white in the properly- exposure image., and in the under-exposure image most pixels are almost black while in the over-exposure image most pixels are almost white.
  8. 8. DIFFERENTLY EXPOSED IMAGES DIFFERENTILY EXPOSED IMAGES
  9. 9. HISTOGRAM OF THE PROPERLY-EXPOSURE IMAGE HISTOGRAM OF UNDER- EXPOSURE IMAGE HISTOGRAM OF THE OVER-EXPOSURE IMAGE HISTOGRAM REPRESANTATION
  10. 10. LANE DETECTION OF HDR IMAGE RECOVER THE RESPONSE FUNCTION OF THE CAMERA: We use the method Debevec proposed to calculate the response function .Let us call the response function f. It can be assumed that Zij is the gray scale value of the pixel which is numbered i and exposure time is Δtj. Ei is the real luminance of the point in the scene that pixel i take. They meet the equation as:
  11. 11. MERG OF HIGH DYNAMIC RANGE IMAGES We use the differently exposed images and the camera response function to merge a 32 bit image and then tone mapping it to a 8 bit image. CAMERA RESPONSE
  12. 12. AUTO EXPOSED IMAGE AND HDR IMAGE OF THE SAME SCENE HISTOGRAM OF THE HDR IMAGE
  13. 13. EDGE DETECTION  Edge detection of the image is to detect the edge of the surrounding pixels have a gray-scale step-like changes or changes in the roof of a collection of pixels. In the images taken for lane detection, the lane in the image is different from the road. So we can detect the lane use EDGE DETECTION ALGORITHM.  We use Sobel operator to detect the lane boundary. The Sobel operator use the weighted difference of the gray scale value of the field point of each point in the image.
  14. 14. Image binaryzation  Before detect the line, we should do the image threshold segmentation first. Image binaryzation is the procedure of separating the target and the background.  The algorithm assumes that the image to be thresholded contains two classes of pixels or bi-modal histogram, then calculates the optimum threshold separating those two classes so that their combined spread.
  15. 15. Hough transform  The final step of the detection is to detect the boundary of the lane. Most of the lane are straight line or clothoid curve, we can use hough transform to detect the line.  Carried out in voting procedure.  This voting procedure is carried out in the parameter space, in the parameter space the object candidates are obtained as local maxima in an accumulator space that is constructed by the algorithm for computing the Hough transform.
  16. 16. IMPROVED METHOD BASED ON HDR IMAGE  EXPOSURE FUSION Exposure fusion is an alternative way to merge high dynamic range images. Compared with the traditional HDR merging method, it leaves out many computation procedures. By fusion the different exposed images, the image has greater dynamic range than one image. But without scientific calculations, the image merged by exposure fusion is not as good as the image merged in the traditional HDR merging method.
  17. 17. The improved method As we all know, color image has red, green, blue channels, in the high dynamic range merging procedure, we should calculate three times to merge a HDR image. And the time of calculate one channel is very long. But the computation on binary images is very quick. So we propose a improve method. The lane detection procedure of the method based on HDRimage is as shown in and the lane detection procedure of the improved method Exposure fusion in the improved method The lane detection system is a real-time system. We should consider the computation time first. If we choose a complex exposure fusion method, it will not use in a real lane departure warning system.
  18. 18. PROCEDURE OF THE METHOD BASED ON HDR IMAGE FLOW CHART REPRESENTATION
  19. 19. PROCEDURE OF THE IMPROVED METHOD IMPROVED METHOD
  20. 20. Lane Departure Warning System (LDWS) is a kind of system which can relieve the stress of the drivers and reduce traffic accidents. The high dynamic range image can improve the accuracy of the lane detection method. We proposed an improved method based on exposure fusion to reduce the computational time of the system. ADVANTAGES
  21. 21. DISADVANTAGES Processing of merging HDR image is very time consuming. It makes HDR image can't be used in real-time LDWS. We proposed an improved method based on exposure fusion to reduce the computational time of the system.
  22. 22. APPLICATIONS 1)LDWS 2)Lane keeping assistance 3)Blind spot recognition 4)Traffic sinal recognition 5) Pedistrain recognition
  23. 23. COMPUTATION TIME After a series of experiments, we get the computation time use each method. The average computation time on a single image is about 40ms, the average computation on HDR image is about 2 seconds, and the computation time use the improved method is about 100ms. We can get the method based on high dynamic range images cost too much time, it can’t be used in the system. But the improved method based on exposure fusion costs about 65ms, it can be used in the real-time system. EXPERIMENTAL RESULTS
  24. 24. DETECTION RESULTS Edge detection result of the auto exposed images and high dynamic range image
  25. 25. CONCLUSION We use three images with different exposure to merge a high dynamic range image and detect the lane in the HDR image. The experimental results show that the high dynamic range image can improve the accuracy of the lane detection method. However, the processing of merging HDR image is very time consuming. It makes HDR image can't be used in real-time LDWS. We proposed an improved method based on exposure fusion to reduce the computational time of the system.
  26. 26. FUTURE WORK The average computation time of with the improved method based on exposure fusion is about 100ms. It meets the need of the lane departure warning system. In order to detect the lane in the image, future work on develop a high dynamic range camera system should be excavated and utilized. By incorporating a departure warning system, the functionalities of the lane marking system can be enhanced. Hough transform can be implemented on FPGA board. FPGA implementation consumes less power also it is very compact and fast.

×