Automatically-driven vehicle-based position detection method, device, apparatus and medium

Abstract

The present application provides a position detection method based on an autonomous vehicle, DEVICES, EQUIPMENT AND MEDIUM, wherein the method comprises: according to the bottom neural network layer of the slender convolution kernel neural network model, determining the feature information of the target linear object image, identifying the feature information of the target linear object image by using a high-level neural network layer in the slender convolution kernel neural network model, and determining the size information of the target linear object image; Further, size information of thetarget line image is matched with preset coordinate system map information to determine a position of the autonomous vehicle. According to an embodiment of the present application, the size information of the target line image can be accurately determined, so that the position of the autonomous vehicle can be accurately determined according to the size information of the target line image and thepreset coordinate system map information.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a position detection method, device, equipment and medium based on an automatic driving vehicle. Background technique [0002] During the operation of the self-driving vehicle, it is necessary to locate the self-driving vehicle. The linear objects (such as utility poles, zebra crossings or lane markings, etc.) in the visual image detected by the self-driving vehicle have a very good reference function for the positioning of the self-driving vehicle. Therefore, detection technology for linear objects is particularly important in the field of automatic driving. [0003] In the prior art, traditional deep learning algorithms are usually used to detect linear objects in visual images. [0004] However, in the prior art, since the linear objects in the visual image are dense and slender objects, the traditional deep learning algorithm cannot accurately detect...

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Problems solved by technology

[0005] The present application provides a position detection method, device, equipment and medium based on an automatic driving vehi...

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