Automatic unstructured road boundary line extraction method based on vehicle-mounted laser point cloud

Abstract

The invention provides an automatic unstructured road boundary line extraction method based on a vehicle-mounted laser point cloud. The method comprises steps: scanning line segmentation is carried out; a topology relation network is built; a moving window method is adopted to acquire ground points; clustering is carried out through a K nearest neighbor clustering method, a pseudo ground point cluster is eliminated according to the number of laser points in the point cluster, and road surface laser point cloud data are acquired; the outer contour point of the road surface laser point cloud data is set to be at the position of the road boundary line, outer contour boundary point extraction is carried out on each scanning line, two ground points with the farthest distance in each scanning line are acquired, and outer contour points at two sides of the road are finally acquired; clustering analysis is carried out, and a left contour point set and a right contour point set of the road areacquired; and boundary line tracking optimization is carried out to acquire the optimal boundary line. Extraction on an unstructured road and a road boundary can be quickly realized based on the laserpoint cloud data direction, an effective solution is provided for automatic unstructured road boundary line extraction, and the automatic road boundary line extraction degree is improved.

Description

technical field [0001] The invention belongs to the field of surveying and mapping geographic information construction, and in particular relates to a method for automatically extracting unstructured road boundary lines based on vehicle-mounted laser point clouds. Background technique [0002] Road boundary information is one of the important components of the current surveying and mapping geographic information construction. Its fine, accurate, efficient and fast automatic extraction technology is very important for new technologies, new directions and new fields such as unmanned driving, smart transportation, smart navigation and 3D maps. The rapid development of The automatic extraction of road boundary lines includes two types, the first is the automatic extraction of structured road boundary lines, and the second is the automatic extraction of unstructured road boundary lines. For the automatic extraction of the first road boundary line, directly use the curbs or curbs...

AI Technical Summary

Problems solved by technology

The method of extracting feature images based on point cloud conversion has a loss of accuracy, because in the process of converting a 3D point cloud into a 2D image, there is inevitably data interpolation, and the interpolation process directly leads to the loss and reduction of data accuracy

At present, there is no automatic extraction of unstructured road boundary lines directly using laser point cloud data.

Images