A method for automatic extraction of road vector marking lines in vehicle-mounted laser scanning point clouds
A vehicle-mounted laser scanning and vector marking technology is applied in the field of automatic extraction of road vector marking lines in vehicle-mounted laser scanning point clouds, which can solve the problems of less research and no extraction method, and achieves simple operation, improved efficiency and accuracy, and is feasible. high sex effect
Active Publication Date: 2020-05-19
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology
At present, the processing of vehicle-mounted laser scanning data mainly focuses on the extraction of building facade information, and the extraction of road traffic vector marking lines is mostly based on the overall intensity image segmentation technology of the road, without systematic analysis considering the space of road and road surface marking lines Morphological characteristics, there are few related studies, and a mature extraction method has not yet been formed
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[0043] The basic idea of the present invention is: according to the spatial distribution characteristics and intensity information of the vehicle-mounted laser scanning point cloud, the method of image processing is used, and the idea of object-oriented extraction is used to extract the marking line in combination with the geometric characteristics of the marking line.
[0044] combine figure 1 As shown, a method for automatically extracting road vector marking lines in a vehicle-mounted laser scanning point cloud includes the following steps:
[0045] a. According to the original road laser scanning point cloud data, an intensity-based feature image is generated through projection;
[0046] b. Use the adaptive threshold method based on the road space shape to segment the feature image, and separate the road background from the road vector marking line target.
[0047] Among them, the segmentation process of the feature image based on the adaptive threshold method of the ...
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The invention discloses a method for automatically extracting road vector marking lines in a vehicle-mounted laser scanning point cloud. The method is based on an intensity-based feature image generated from the original road laser scanning point cloud data, through adaptive threshold segmentation based on road space form, direction Image processing methods such as constrained expansion and erosion and thinning extract the skeleton of the road vector marking line in the current image; use the object-oriented method to extract the road vector marking line, and combine the geometric features of the marking line to extract the road vector marking line; according to ransac The principle of the algorithm uses a single line segment to represent a short road vector marking line, and uses multiple continuous broken line segments to represent a long road vector marking line, and extracts the position of the road vector marking line. The present invention quickly acquires massive laser scanning point cloud data of the road and both sides without affecting traffic, extracts road vector marking line information therefrom, and records the three-dimensional space coordinates where the road vector marking line is located. The operation is simple and the feasibility is high.
Description
technical field [0001] The invention belongs to the technical field of vehicle-mounted laser scanning point cloud data processing, and in particular relates to a method for automatically extracting road vector marking lines in a vehicle-mounted laser scanning point cloud. Background technique [0002] The extraction of road vector marking lines is one of the key technologies in the fields of vehicle intelligent driving, traffic management and 3D modeling of road environment. Current research mainly focuses on detecting and tracking lane lines from video images, but the road vector marking lines detected from images mainly record the two-dimensional plane information of the marking lines instead of three-dimensional information, which has been unable to meet the needs of intelligent vehicles. The needs of assisted driving and traffic management. As an advanced measurement method, the vehicle-mounted mobile laser measurement system has the characteristics of fast, non-contact...
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IPC IPC(8): G06K9/00G06K9/46
CPCG06V20/588G06V10/44
Inventor 刘如飞卢秀山田茂义刘甜侯海龙
Owner SHANDONG UNIV OF SCI & TECH