Patent ID: 11967156
Assignee: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC B  G

Claim 0:
1. A road recognition method based on a seed point, comprising:
obtaining a remote sensing image;
preprocessing the remote sensing image to obtain a grayscale image;
inserting a seed point in the grayscale image, wherein the seed point is a monitoring location point in a road to be identified;
searching for four initial road boundary points using the seed point as a reference point, comprising:
separately searching for pixels in α° direction and (α+180°) direction of the seed point;
determining whether a gray value difference between a current searched pixel and a previous pixel is greater than a preset threshold; and
if yes, using the current pixel as one initial road boundary point, and then changing the search direction with the seed point as the reference point to continue searching for a pixel; or
if not, directly changing the search direction with the seed point as the reference point to continue searching for a pixel;

obtaining a smallest bounding rectangle search box formed by the four initial road boundary points;
rotating the obtained search box at different angles, and moving rotated search boxes to obtain a plurality of candidate search boxes;
determining whether a sum of squares of grayscale differences between the plurality of candidate search boxes and the obtained search box is greater than a preset threshold;
recognizing the edge of the road when the sum of the squares of the grayscale differences between the plurality of candidate search boxes and the obtained search box is greater than the preset threshold;
when the sum of the squares of the grayscale differences between the plurality of candidate search boxes and the obtained search box is not greater than the preset threshold, selecting a new search box from the plurality of candidate search boxes, retrieving a plurality of further candidate search boxes based on the new search box; and
recognizing the edge of the road when the sum of the squares of the grayscale differences between the plurality of further candidate search boxes and the new search box is greater than the preset threshold.