Road edge identification method and device
A road edge, grid technology, applied in character and pattern recognition, instruments, computer parts and other directions, can solve the problems of high labor cost, slow recognition speed, poor practicability, etc., to reduce labor costs, improve recognition speed, reduce The effect of computation
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Embodiment 1
[0074] See figure 1 , which shows a flow chart of the road edge recognition method provided by the present application, which may include the following steps:
[0075] Step S101: Intercept a point cloud whose height from the ground is a preset distance range in the spatial point cloud as a point cloud to be processed, where the spatial point cloud is a collection of points representing objects in the road space where the vehicle is located.
[0076] In this embodiment, the spatial point cloud is obtained by scanning objects in the road space where the vehicle is located by the vehicle-mounted device on the vehicle, that is, the acquisition vehicle.
[0077] Among them, since the objects in the road space where the vehicle is located include: roads, road edges (such as road guardrails, road isolation belts, curbs, etc.), cars, road poles, and obstacles (such as bridge piers), etc., the space point cloud includes road representations. The set of points that characterize the roa...
Embodiment 2
[0102] In this embodiment, in figure 1 On the basis of the road edge recognition method shown, another road edge recognition method is extended, please refer to Image 6 ,exist figure 1 After step S105 of the road edge identification method shown, the following steps may also be included:
[0103] Step S106: Use the grids in the grid set other than the road edge grid set and the driving track of the vehicle to perform data filling on the road edge grid set.
[0104] figure 1 The road edge grid set obtained in steps S101 to S105 in the shown road identification method is relatively incomplete, and it is necessary to continue to use grids and the vehicle in the grid set other than the road edge grid set. The road edge set is filled with data to obtain a complete set of road edge grids.
[0105] Using the grids in the grid set other than the road edge set and the angle difference between the road edge set and the driving trajectory of the vehicle, perform data padding on the ...
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Abstract
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