Road edge detection method, device, computer equipment and storage medium

Abstract

The invention relates to a road edge detection method and device, computer equipment and a storage medium. The road edge detection method comprises the steps of scanning a target environment for multiple times by using a laser beam to obtain echo signals reflected within a preset time, wherein the target environment includes multiple scanning points, the echo signals carry three-dimensional coordinate information of the scanning points; performing tensor voting according to the three-dimensional coordinate information of the multiple scanning points to obtain linear features and normal features of the multiple scanning points; extracting road surface scanning points from the multiple scanning points by using the normal features, and calculating the road surface height corresponding to theroad surface scanning points; obtaining a height threshold corresponding to the road surface height and a threshold of the linear features of the road surface scanning points; and filtering the echo signals corresponding to the road surface scanning points according to the height threshold and the threshold of the linear features to obtain road edge information corresponding to the road surface scanning points. The road edge detection method provided by the invention is less disturbed by noise and more accurate in road edge information detection.

Description

technical field [0001] The present application relates to the field of computer technology, in particular to a road edge detection method, device, computer equipment and storage medium. Background technique [0002] Roadside is an important part of urban roads. With the development of technologies such as unmanned driving and the demand for high-precision map drawing, roadside detection technology has emerged. [0003] In the curb detection technology, the curb detection method based on laser scanning is widely used due to its advantages of not being affected by weather and light. However, the traditional roadside detection method based on laser scanning obtains roadside information by performing quadratic curve fitting on the roadside candidate points. During the fitting process, it is easy to fail to identify the roadside candidate points and overfitting. and other problems, and in the recognition process, it is easily affected by noise, resulting in inaccurate detected r...

AI Technical Summary

Problems solved by technology

However, the traditional roadside detection method based on laser scanning obtains roadside information by performing quadratic curve fitting on the roadside candidate points. During the fitting process, it is easy to fail to identify the roadside candidate points and overfitting. and other problems, and in the identification process, it is easily affected by noise, resulting in inaccurate detected road edge information

Therefore, the traditional road edge detection method has the problem of inaccurate detection of road edge information.

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