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基于单目视觉的夜间车道线和前方车辆检测方法研究的中期报告（ThisisamachinetranslationfromChinesetoEnglish.Itmaycontainerrorsorinconsistencies.）MidtermReportonResearchofNighttimeLaneDetectionandVehicleDetectionMethodbasedonMonocularVisionIntroductionWiththedevelopmentofadvanceddriverassistancesystems(ADAS)andautonomousdrivingtechnologies,theresearchonperceptionandidentificationofthesurroundingenvironmentbecomesmoreandmorecritical.Amongthem,thevision-basedsystemiswidelyusedforsolvingthisclassofproblems.MonocularvisionisoneoftheessentialmethodsfortheperceptionanddetectionofthesurroundingenvironmentinADASandautonomousvehicles.Itplaysavitalroleinobjectdetection,lanekeeping,pedestriandetection,andtrafficsignrecognition,etc.However,thenightenvironmentismorecomplexthanthedaytimeenvironment.Inthenight,thelightingisinsufficient,thecontrastoftheimageisreduced,andthenoiseissignificantlyincreasedintheimage,whichmakesitquitechallengingtodetectandperceivetheobjectsthroughthecamera.Consequently,detectingthelaneandvehicleinalowilluminationenvironmentbecomesasignificantchallenge.Therefore,studyingthenight-timevisionhasattractedconsiderableattentioninthefieldofcomputervisioninrecentyears.Inthisproject,weaimtodesignaneffectivemonocularvision-basedmethodfornighttimelanedetectionandvehicledetection.Inthismidtermreport,wepresenttheprogressoftheresearchthatwehavecompletedsofar.MethodsNight-timeLaneDetectionTheproposedlanedetectionmethodhasthreemaincomponents:Preprocessing,Lanerecognition,andPostprocessing.Preprocessing:Theimagecapturedbythecameraispreprocessed,whichincludesimageenhancement,imagedistortioncorrection,andregionofinterest(ROI)extraction.First,thehistogramequalizationalgorithmisusedtoenhancethebrightnesscontrast,whichcansignificantlyincreasetheimage'svisibility.Second,weapplytheDistortioncorrectionbasedonthecamera'sintrinsicandextrinsicparameters,whichcanrectifythecurvedimagecausedbythelensdistortion.Next,weidentifytheregionofinterest(ROI)oftheimage,whichhelpsustoreducethecomputationloadofthealgori
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