本文關鍵詞：基于輪廓特征理解的城市道路圖像深度估計，由筆耕文化傳播整理發(fā)布。

基于輪廓特征理解的城市道路圖像深度估計 丁偉利* 李勇 王文鋒 曹秀艷 燕山大學電氣工程學院 河北省秦皇島市 066004 摘要實驗結果本文提出的算法能夠有效地內部的漸變深度信息。 關鍵詞?? Depth Estimation of Urban Road Image Based on Contour Understanding Ding Weili, Li Yong, Wang Wenfeng Cao Xiuyan Institute of Electrical Engineering, Yanshan University, Qinhuangdao ,Hebei,066004, China Abstract Estimating the depth of the road scene is a key step for intelligent transportation and robot navigation. This paper presents a depth estimation algorithm for single static road image. The algorithm obtains a series of closed areas of the image bede on the edge growing segmentation algorithm firstly; then we compute the statistic characteristics of each region, including color, area, position, straight lines, vertical lines, and parallel lines. Based on these characteristics, the road vanishing point was further estimated, and the sky, road and vertical regions are estimated. Finally, the depth of the road image is estimated by using vanishing point and the statistic characteristics. Experimental results show that the proposed algorithm can effectively estimate the road vanishing point, as well as the road depth information. Keywords Computer vision; Depth estimation; Image understanding; 3D space estimation; Single image OCIS Codes XXX.XXXX; XXX.XXXX; XXX.XXXX（需給出具體的欄目分類，而不是總的欄目號，如320.320無效） 1引言 從單幅圖像恢復場景深度信息和三維結構是計算機視覺一項重要的研究內容，它通過提取與深度相關的視覺線索和一些先驗知識完成深度估計，有助于實現(xiàn)基于單像機的場景理解、目標定位、三維測量和重建，，在機器人導航、智能交通和增強現(xiàn)實場景注冊領域有廣泛的應用前景[1-2]。 現(xiàn)有的基于單幅圖像的深度估計算法主要利用三維空間的

  本文關鍵詞：基于輪廓特征理解的城市道路圖像深度估計，由筆耕文化傳播整理發(fā)布。