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
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Problems solved by technology

This first requires the support of obstacle boundary extraction technology, and the algorithm complexity of expanding o

Method used

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  • 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

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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...

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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

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Application Information

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IPC IPC(8): G06K9/00G01C21/34
CPCG01C21/3446G06V20/588
Inventor 陈智鑫林梦香
Owner BEIHANG UNIV
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