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Lane line data processing method and lane line data processing device

A processing method and technology of lane lines, applied in image data processing, instruments, biological neural network models, etc., can solve problems such as low efficiency, high labor cost, distortion and so on

Active Publication Date: 2016-01-20
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] For the first lane line detection and generation method, the efficiency is low and the labor cost is high
Drawing lane lines and other 3D lines on the 3D point cloud is difficult to interact with, distorted, and the efficiency of manual work is low. Moreover, due to the low resolution of the point cloud, it is easy to miss the lane line when drawing
However, the main purpose of the algorithm and scheme research applied in the second lane line detection and generation method is to serve the real-time detection of lane lines for automatic driving, and it mainly stays at the experimental level, and its detection effectiveness and physical accuracy are not as high as To the requirements of producing high-precision maps
It can be seen that the existing lane line detection and generation methods need to be further improved

Method used

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  • Lane line data processing method and lane line data processing device
  • Lane line data processing method and lane line data processing device

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Embodiment 1

[0028] figure 1 It is a schematic flowchart of a processing method for lane line data provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of large-scale production of high-precision maps. The method can be executed by a processing device based on lane line data. The device It can be implemented in the form of hardware and / or software.

[0029] The method is as follows:

[0030] S110. Acquire at least two original images of lane markings taken continuously and positioning data of the original images.

[0031] In the above-mentioned operation, it can be specifically, by setting an industrial camera on the vehicle, performing continuous shooting at 8-10 frames per second, and collecting the lane line image of the target road section as the original image; Positioning, internal reference data such as the installation height of the industrial camera on the vehicle, shooting angle of view, and shooting posture are known, so the positio...

Embodiment 2

[0074] image 3 Shown is a schematic structural diagram of a device for processing lane line data provided by Embodiment 2 of the present invention, as shown in image 3 As shown, the device specifically includes: an original image acquisition module 210, a pixel confidence degree calculation module 220, a candidate lane line determination module 230, a candidate lane line confidence degree calculation module 240, a candidate lane line screening module 250, and a lane line attribute information identification module 260 and lane line map data generation module 270.

[0075] Among them, the original image acquisition module 210 is used to acquire at least two original images of the continuous shooting lane lines and the positioning data of the original images; the pixel confidence calculation module 220 is used to calculate each of the original images by using a deep neural network model. The pixel conforms to the pixel confidence of the lane line feature; the candidate lane l...

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Abstract

The embodiment of the invention discloses a lane line data processing method and a lane line data processing device. The method comprises the following steps of: obtaining an original image and positioning data of the original image; using a deep neural network model for calculating the pixel confidence degree of each pixel, conforming to lane line features, in the original image; determining the lane line outlines from the original image, and using the lane line outlines as candidate lane line; calculating the lane line confidence degree of the candidate lane lines; screening the candidate lane lines according to the lane line confidence degree of the candidate lane lines; recognizing the attribute information of the lane line by aiming at the screened lane line; and determining map data of the lane line according to the attribute information of the lane line and positioning data during the original image shooting. The lane line data processing method and the lane line data processing device provided by the embodiment have the advantages that the lane line data can be efficiently and precisely determined; the labor cost in high-precision map production is greatly reduced; and the large-scale high-precision map production can be realized.

Description

technical field [0001] Embodiments of the present invention relate to a map data processing technology, in particular to a method and device for processing lane line data. Background technique [0002] The 3D high-precision map is recognized by the industry and academia as the main development direction of the next generation of digital maps. It is the prerequisite for the realization of automatic driving and assisted driving, and provides the main basis for accurate positioning and correct decision-making of autonomous vehicles. High-precision maps are also an important strategic platform resource for analyzing road utilization conditions and realizing smart transportation. The core issue of 3D high-precision map production focuses on the detection and generation of road lane information, that is, the accurate reconstruction of road network lane information in the real world with a 3D digital map. [0003] There are currently two main ways to detect and generate lane lines...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06V10/764
CPCG06V20/588G06V10/82G06V10/764G06N3/045G06V10/44G06T17/05G06F18/2414G06N3/02
Inventor 晏涛王睿索宋良蒋昭炎晏阳
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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