matlab-车道线检测

clc%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%读图最后得到灰度图像rgA=imread('999.png');[rcd]=size(A);r2g=zeros(r,c);red=zeros(r,c);green=zeros(r,c);blue=zeros(r,c);rg=zeros(r,c);fori=1:r;forj=1:c;red(i,j)=A(i,j,1);%提取图像的红色分量green(i,j)=A(i,j,2);%提取图像的绿色分量blue(i,j)=A(i,j,3);%提取图像的蓝色分量endendfori=1:r;forj=1:c;rg(i,j)=0.5*red(i,j)+0.5*green(i,j);endendrg=uint8(rg);fori=1:r;forj=1:c;ifrg(i,j)178;rg(i,j)=255;endendendfigure;subplot(2,2,1);imshow(A);title('原图')%显示原图像subplot(222);imshow(rg);title('彩色通道提取法-灰度图');%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%figurer2g=rg;i=r2g;%输入灰度变换后的图像subplot(221);imshow(i);title('原图')subplot(223);imhist(i);%显示直方图h1=histeq(i);subplot(222);imshow(h1);title('直方图均衡化后的图')subplot(224);imhist(h1);%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%i=h1;%直方图均衡化后的图像j=imnoise(i,'salt&pepper',0.02)k1=medfilt2(j);figure;subplot(121);imshow(j);title('添加椒盐噪声图像')subplot(122);imshow(k1);title('3*3模板中值滤波')%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%clcr2g;figure;subplot(221);imshow(r2g);title('原图像');W_H1=[230;%选用自定义差分模板增强左车道标记线30-3;0-3-2];W_V1=[032;%选用自定义差分模板增强右车道标记线-303;-2-30];T=0.28;%thethresholdinthe2-valueI=r2g;%readtheimage[height,width]=size(I);I1=double(I);I3=double(I);I4=double(I);I2=zeros(height+2,width+2);%puttheimage'sdataintoabiggerarraytovoidtheedgeI2(2:height+1,2:width+1)=I1;fori=2:height+1%movethewindowandcalculatethegradsforj=2:width+1sum3=0;%不同方向的模板算子sum4=0;form=-1:1forn=-1:1sum3=sum3+W_H1(m+2,n+2)*I2(i+m,j+n);endendform=-1:1forn=-1:1sum4=sum4+W_V1(m+2,n+2)*I2(i+m,j+n);endendgrey1=abs(sum3)+abs(sum4);I3(i-1,j-1)=grey1;endendbig=max(max(I3));%归一化small=min(min(I3));fori=1:heightforj=1:widthI3(i,j)=(I3(i,j)-small)/(big-small);%归一化if(I3(i,j)T)I3(i,j)=1;%二值化elseI3(i,j)=0;endendendsubplot(222);imshow(I3);title('sl、sr算子处理的图像')%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%figure;subplot(221);imshow(A);title('原图')gg=bwmorph(I3,'thin',inf);subplot(222);imshow(gg);title('细化的图像')I=rg;[x,y]=size(I);[height,width]=size(I);seedx=round(x);seedy=round(y/2);gr=I(seedx,seedy)W_H=[111;%themodelinthehorizondirection111;111];I1=double(I);I2=zeros(height+2,width+2);%puttheimage'sdataintoabiggerarraytovoidtheedgeI2(2:height+1,2:width+1)=I1;fori=2:height+1%movethewindowandcalculatethegradsforj=2:width+1sum1=0;%thecumulusform=-1:1forn=-1:1sum1=sum1+W_H(m+2,n+2)*I2(i+m,j+n);endendgrey=sum1/9;I1(i-1,j-1)=grey;endendI1=uint8(I1);%邻域平均化灰度图像%subplot(222);imshow(I1);title('区域生长-路面区域图像')[x,y]=size(I1);I2=zeros(x,y);I=double(I);I1=double(I1);fori=1:x;forj=1:y;ifabs(I1(i,j)-I(i,j))=70&abs(I(seedx,seedy)-I1(i,j)=90)I2(i,j)=1;endendendsubplot(223)imshow(I2);title('区域生长-路面区域图像')I4=zeros(x,y);fori=round(5):x-4;forj=5:y-4;ifgg(i,j)==1form=i-4:i+4;forn=j-4:j+4;ifI2(m,n)==0&sqrt((i-m)^2+(j-n^2))=2I4(i,j)=1;endendendendendendsubplot(224)imshow(I4);title('检测图像')%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%clc;t0=clockff=I4;%输入检测的图像[x,y]=size(ff);a1=zeros(x,1);b1=zeros(y,1);k=1;fori=1:xforj=1:round(y/2);ifff(i,j)==1;a1(k)=i;b1(k)=j;k=k+1;endendendm=length(a1);a2=max(a1)h=1;fori=1:m;ifa1(i)==a2;jiaobiao(h)=i;h=h+1;endendb1=b1(jiaobiao);b11=max(b1);%ff(a1,b1)为选中的车道线第一个像素点k=1;fori=round(1):round(x);forj=1:round(y/2);ifff(i,j)==1&i~=a2&j~=b11;kkb(k)=(b11-j)/(a2-i);bbc(k)=b11-kkb(k)*a2;k=k+1;endendendtheta=atan(-1./kkb);theta1=theta+pi,roi=bbc.*sin(theta);roi1=roi+abs(roi);maxtheta=max(theta1);maxroi=max(roi1);accum=zeros(round(maxtheta)+1,round(maxroi)+1);fori=1:length(theta);thetaint=round(maxtheta/2+theta1(i)/2);roiint=round(maxroi/2+roi1(i)/2)+1;accum(thetaint,roiint)=accum(thetaint,roiint)+1;endp=max(max(accum))%出现峰值处的累加器的值fori=1:length(theta);thetaint=round(maxtheta/2+theta1(i)/2);roiint=round(maxroi/2+roi1(i)/2)+1;ifaccum(thetaint,roiint)==p;ji=i;endendk=1;m=1;fori=round(x/2):x;forj=1:round(y/2);ifff(i,j)==1&i~=a2&j~=b11;kk(k)=(b11-j)/(a2-i);bb(k)=b11-kk(k)*a2;theta(k)=atan(-1./kk(k));iftheta(k)==theta(ji);xji(m)=i;yji(m)=j;m=m+1;endk=k+1;endendend%xji=median(xji);%yji=median(yji);ji;theta(ji);imshow(I4);holdon;line([yji,b11],[xji,a2],'linewidth',3);title('根据改进的hough做标记线')time=etime(clock,t0)