Method and system for extracting parking spaces in underground garages in high-precision map making

Abstract

The invention relates to a method and system for extracting parking spaces of underground garages in high-precision map making, comprising the following steps: S1, projecting a 3D laser point cloud including parking spaces into a 2D bird's-eye view mode image; S2, calculating an image contrast estimation index, According to the contrast estimation, different image preprocessing methods are used to obtain a binary image; S3, use the probabilistic Hough transform to detect the straight line segment of the binary image, and calculate the rotation angle of the parking line according to the detected straight line segment; S4, according to the rotation angle and the image The center point is the rotation image of the center of the circle; S5, count the number of pixels of the parking line in each row and column of the rotated image, and obtain the integral projection of the image in the horizontal and vertical directions; S6, search according to the integral projection of the image in the horizontal and vertical directions to obtain parking The coordinates of the four inner corners of the parking space are obtained; S7, the coordinates of the inner corners of the parking space are inversely transformed to the point cloud data, thereby extracting the parking space.

Description

technical field [0001] The invention relates to the technical field of high-precision map production, in particular to a method and system for extracting parking spaces in underground garages in high-precision map production. Background technique [0002] High-precision maps are one of the core technologies of unmanned driving. Accurate maps are crucial to the positioning, navigation, control, and safety of unmanned vehicles. How to generate high-precision maps is also an urgent problem in the field of unmanned driving. The underground garage parking space refers to the area built underground and available for long-term or long-term or temporary parking of motor vehicles. The parking area is divided by the parking line according to a certain size. The underground parking lot cooperates with different levels of urban roads to meet the parking needs of different scales, and plays a very important role in regulating and controlling the traffic in the central area of ​​the city....

AI Technical Summary

Problems solved by technology

[0004] However, this method is sensitive to illumination. Under different illumination conditions, the gradient of the parking space in the image varies greatly, which may easily lead to wrong extraction and missing extraction.

At the same time, due to the noise in the edge points obtained by the edge detection method in practical applications, not all of them are the edges of the parking line, the single use of Hough transform and straight line extraction is likely to cause errors, resulting in low extraction accuracy, which cannot meet the requirements of high-precision maps. Accuracy requirements

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