Method and device for obtaining lane line

Abstract

The invention discloses a method and device for obtaining a lane line. In one specific implementation mode, the method includes the steps that road data are collected, wherein the road data at least comprise the two-dimensional image data and the three-dimensional laser point cloud data; a machine learning method is adopted for recognizing the lane line in the two-dimensional image data; based on the spatial position relation between the two-dimensional image data and the three-dimensional laser point cloud data, a lane line recognition result is converted into three-dimensional lane line disperse points; according to statistical characteristics, the three-dimensional lane line disperse points are filtered; the filtered lane line disperse points are clustered so as to obtain the lane line. By means of the implementation mode, the lane line can be accurately and efficiently obtained, and it is avoided that vehicles or road edges or other marking lines in a road image influence the process of obtaining the lane line. When applied to map drawing, the drawing speed can be obviously increased, and the drawing precision can be obviously improved.

Description

technical field

[0001] The present application relates to the field of computer technology, specifically to the field of image data processing, and in particular to a method and device for acquiring lane lines. Background technique

[0002] Lane line extraction technology can be applied in fields such as map drawing, vehicle automatic driving and driving safety tips. At present, when drawing lane lines in a high-precision map, it is first necessary to extract the lane lines in the road image. Existing lane line extraction methods mainly rely on manual marking or lane line recognition techniques from 2D images. Among them, manual marking is mostly manual marking of lane lines in satellite images or aerial images; lane line recognition based on two-dimensional images uses continuous road pictures taken by vehicle cameras, and lane lines are identified in the road pictures according to the characteristics of lane lines. to identify. In the above methods, the speed of manual ...

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