关键词: 缩微智能车, 车道标识线检测, 数学形态学, 二值化, 概率霍夫变换

Abstract: In order to realize the lane detection in a micro-traffic environment, this paper proposes a lane detection method based on mathematical morphology and probabilistic Hough transform. Firstly, the road images are preprocessed with a grayscale dilation and erosion operation to filter light. Then, an adaptive threshold binarization algorithm is used to extract the lines from the gray images. Finally, a probabilistic Hough transform is employed to detect lanes. The experimental results show that the proposed method can detect the lane accurately and has good robustness.

Key words: miniature intelligent vehicle, lane detection, mathematical morphology, binarization, probabilistic Hough transform