Lane line detection method, autonomous mobile device, and storage medium

An autonomous mobile device, comprising:

• a camera, a memory and a processor, wherein the memory stores an application program which, when being called by the processor, causes the processor to:
• acquire an original image captured by the camera, and calculate an ab-channel-based gradient image according to the original image;
• extract, from the ab-channel-based gradient image, line segments located on edges of lane lines, as multiple original line segments;
• cascade, in an iterative manner, collinear line segments among the multiple original line segments, and obtain multiple cascaded line segments through the cascading;
• generate multiple candidate lane lines from the multiple cascaded line segments;
• and
• obtain lane lines in the original image by merging collinear candidate lane lines of the multiple candidate lane lines.

A non-transitory computer-readable storage medium storing program codes thereon, wherein the program codes, when being called by a processor, cause the processor to:

• acquire an original image captured by a camera of an autonomous mobile device, and calculate an ab-channel-based gradient image according to the original image;
• extract, from the ab-channel-based gradient image, line segments located on edges of lane lines, as multiple original line segments;
• cascade, in an iterative manner, collinear line segments among the multiple original line segments, and obtain multiple cascaded line segments through the cascading;
• generate multiple candidate lane lines from the multiple cascaded line segments;
• and
• obtain lane lines in the original image by merging collinear candidate lane lines of the multiple candidate lane lines.