Extraction method and device of guardrail point cloud

An extraction method and technology for an extraction device, which are applied in the field of a guardrail point cloud extraction method and device, can solve the problems of time-consuming, high labor cost, and low identification efficiency of the guardrail point cloud, and achieve the effect of improving the identification efficiency.

Active Publication Date: 2016-06-01
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] However, when drawing a point cloud of a road, it may take tens of minutes or longer, and every time point (such as 1 millisecond) will generate a single-frame road point cloud, thereby generating a large number of single-frame roads point cloud
At this time, if each single frame point cloud is manually searched by the engineer for the point cloud of the fence, it will take a lot of time, the labor cost is high, and the point cloud recognition efficiency of the fence is low

Method used

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  • Extraction method and device of guardrail point cloud
  • Extraction method and device of guardrail point cloud
  • Extraction method and device of guardrail point cloud

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] figure 1 The flow chart of the method for extracting guardrail point clouds provided by Embodiment 1 of the present invention, this embodiment is applicable to the situation of extracting guardrail point clouds from road point clouds, and the method can be used for extracting guardrail point clouds terminal, the terminal can be a server, a personal computer, a laptop, a tablet computer, a car center console, a smart phone or a smart wearable device, etc., and the method includes:

[0021] S110. Obtain the shape feature of the first guardrail.

[0022] Wherein, the first guardrail is a corrugated guardrail, a concrete anti-collision pier or a sound insulation wall.

[0023] Wave guardrail, also known as wave guardrail, is a highway anti-collision facility, mainly to prevent out-of-control vehicles from rushing out of the road. The corrugated guardrail is a continuous structure that is spliced ​​with corrugated steel guardrail panels and supported by columns. The corrug...

Embodiment 2

[0031] figure 2 It is a flow chart of the method for extracting the guardrail point cloud provided in Embodiment 2 of the present invention. Optionally, S110, extracting the first guardrail point cloud from the single-frame road point cloud according to the shape feature of the first guardrail, may be Implement it by:

[0032] S110a. Extract the curved point cloud sequence in the single-frame road point cloud as a waveform guardrail point cloud.

[0033] The corrugated guardrail is usually fixed on both sides of the road through fixed brackets, and there is a preset distance (such as 0.8-1.2 meters) from the road surface. The shape of the wave-shaped guardrail is wave-shaped, specifically, it can be a double-wave wave or a three-wave wave. Optionally, the S-shaped curve-shaped point cloud sequence is extracted as a waveform guardrail point cloud. S-curves can be single, double or triple. A point cloud sequence is used to represent a sequence combination of spatial points ...

Embodiment 3

[0048] image 3 The flow chart of the point cloud extraction method for the guardrail provided in the third embodiment of the present invention. With the continuous development of the guardrail technology, in addition to the wave guardrail, the cement anti-collision pier and the sound insulation wall, more and more new guardrails have come out At this time, the point cloud of the new type of guardrail cannot be extracted only by extracting the point cloud sequence based on the shape characteristics of the waveform guardrail, cement anti-collision pier or sound insulation wall. Based on this, after S120, after extracting the first guardrail point cloud from the single-frame road point cloud according to the shape feature of the first guardrail, it also includes:

[0049] S130. Filter out the point cloud of the first protective fence, the point cloud of the road surface, and the point cloud of the rod body from the single frame road point cloud to obtain the remaining point clou...

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Abstract

The invention discloses an extraction method and a device of guardrail point cloud. The method comprises steps of obtaining shape characteristics of a first guardrail which is a wave-shaped safeguard, a cement anti-collision pier or a sound isolation wall; and extracting a first safeguard point cloud from a single-frame road point cloud according to the shape characteristics of the first guardrail. According to the invention, after the shape characteristics of the first safeguard are obtained, the first safeguard point cloud is extracted from the single-frame road point cloud according to the shape characteristics of the first safeguard. In the prior art, the guardrail cloud is extracted by engineers, so extraction efficiency is low. According to the invention, a machine can extract the guardrail point cloud from the road point cloud according to the shape characteristics of the first guardrail without manual extraction of engineers, so labor cost is reduced, extraction efficiency of the machine is quite fast and identification efficiency of the guardrail is increased.

Description

technical field [0001] The embodiment of the present invention relates to a point cloud data processing technology, in particular to a method and device for extracting a point cloud of a guardrail. 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. An important part of the 3D high-precision map is to establish the mapping relationship between road images and guardrail points. [0003] In the prior art, when establishing the mapping relationship between the road image and the guardrail point cloud data, the road point cloud is first obtained through the vehicle-mounted point cloud acquisition device, and each time point corresponds to a single frame of the road point c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/46
CPCG06V10/40
Inventor 姜雨关书伟晏阳
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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