Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Method for extracting road center line by means of Visual Graph algorithm

A road and centerline technology, which is applied in the field of intelligent robot motion planning, can solve the problems of large complexity, difficult implementation, and large amount of calculation of the extended obstacle algorithm, and achieve the effect of easy understanding, reasonable road centerline, and simple understanding

Active Publication Date: 2017-07-21
BEIHANG UNIV
View PDF5 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This first requires the support of obstacle boundary extraction technology, and the algorithm complexity of expanding obstacles is relatively large, which makes this method difficult to implement and the amount of calculation is too large

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for extracting road center line by means of Visual Graph algorithm
  • Method for extracting road center line by means of Visual Graph algorithm
  • Method for extracting road center line by means of Visual Graph algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0036] Such as figure 2 Shown, the specific implementation steps of the present invention are described in detail as follows:

[0037] Step 1: Use the slam algorithm or other mapping algorithms to obtain the map of the road centerline to be generated, pass in the image in .pgm format, call the opencv library function imread to binarize it, and obtain the opencv matrix variable Mat, and then convert it Form a two-dimensional array, each element of the array represents a pixel point, its value is 0 or 1, 0 indicates that it can pass, 1 indicates that there is an obstacle, and the binarization process is completed;

[0038] Step 2: Traverse the entire map starting from the upper left corner of the map. If a certain pixel point is an impassable point, it will be skipped directly; if a certain pixel point is a passable point, light rays will be emitted from this point. Starting from this point, first emit two rays at an angle of 180° to each other in the horizontal direction, an...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for extracting the road center line by means of a Visual Graph algorithm. In the actual application of path planning, in order to reduce impact on obstacles as much as possible, usually a robot is required to walk on the road center line in order to improve the walking safety of the robot. The Visual Graph algorithm is a very classic path planning algorithm provided in 1979, and the characteristic that light is linearly propagated is simulated. According to the invention, the execution idea, of the algorithm, that light is linearly propagated is employed to achieve extraction of the road center line, the coordinate points of the road center line and the connection relation of the coordinate points can be finally outputted, and the road center line is drawn in the map in order to supply a safe and appropriate walking path to the robot.

Description

technical field [0001] The invention relates to a method for extracting the centerline of a road in the field of motion planning of an intelligent robot, specifically a method for extracting the centerline of a road by using a Visual Graph algorithm idea, and finally outputting the coordinate points of the centerline of the road and the connection relationship between the coordinate points. Background technique [0002] At present, the research on robot systems capable of autonomous navigation and obstacle avoidance is extremely hot, and many products have been applied in practice. For example, a service robot in a restaurant has the ability to identify obstacles and plan paths; another example is a home sweeping robot, which also has the ability to plan its own movement path in an open space. In terms of public transportation, the application of drone express delivery has been in full swing, and path planning must also be used in express delivery, so that the drone can reac...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06K9/00G01C21/34
CPCG01C21/3446G06V20/588
Inventor 陈智鑫林梦香
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com