Obstacle recognition method and device, computer equipment and readable storage medium
A technology of obstacle recognition and obstacle, which is applied in computer parts, calculation, scene recognition, etc., can solve the problems of poor obstacle recognition accuracy and low recognition efficiency, and achieve the effect of improving recognition accuracy and recognition efficiency
Active Publication Date: 2021-01-22
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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[0004] However, in the existing technology, the local features of the point cloud of the obstacle to be recognized in the point cloud scanned by the lidar are usually not so obvious, resulting in poor recognition accuracy and low recognition efficiency of the obstacle to be recognized
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[0063] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0064] figure 1 It is a flowchart of an embodiment of the obstacle identification method of the present invention. Such as figure 1 As shown, the obstacle recognition method in this embodiment may specifically include the following steps:
[0065] 100. Project the point cloud of the obstacle to be identified on at least one preset plane to obtain at least one projection image;
[0066] The obstacle recognition method of this embodiment is applied in the technical field of automatic driving. In automatic driving, the vehicle needs to be able to automatically identify obstacles on the road, so as to make timely decisions and control while the vehicle is driving, so as to facilitate the safe driving of the vehicle. The execution subject of the ob...
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The invention provides an obstacle identification method and device, computer equipment and a readable medium. The method includes: projecting the point cloud of the obstacle to be identified on at least one preset plane to obtain at least one projection image; performing Hough process on at least one binarized projection image corresponding to the at least one projection image. change to obtain at least one Hough diagram; generate the feature vector of the obstacle to be identified according to at least one Hough diagram; identify the obstacle to be identified according to the pre-trained classifier model and the feature vector of the obstacle to be identified category. In the technical solution of the present invention, by analyzing the point cloud of the obstacle to be identified, the feature vector of the obstacle to be identified contains more abundant information about the obstacle to be identified, which can effectively improve the accuracy of the obstacle to be identified. The recognition accuracy can effectively improve the recognition efficiency of the obstacle to be recognized.
Description
【Technical field】 [0001] The present invention relates to the technical field of automatic driving, in particular to an obstacle identification method and device, computer equipment and a readable storage medium. 【Background technique】 [0002] In the existing automatic driving technology, the output information of the obstacle to be recognized will be used as the input of control and planning information. Therefore, accurate and fast recognition of the obstacle to be recognized is a very critical technology. [0003] In the prior art, a camera and a laser radar are usually used to identify obstacles to be identified. Among them, the camera solution can be applied in scenes with sufficient light and relatively stable environment. However, in the case of bad weather and chaotic road environment, the vision of the camera solution has not been stable enough, resulting in inaccurate information collected about obstacles to be identified. Although lidar is very expensive, the o...
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IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/58G06F18/2411
Inventor 李晓晖郭疆谢国洋王亮
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD