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Lane line detection method based on three-dimensional laser radar

A lane line detection and 3D laser technology, which is applied to instruments, character and pattern recognition, computer components, etc., can solve the problems of uneven distribution of 3D lidar point cloud data, waste of computing and storage resources, and low detection accuracy. Achieve the effects of wide applicability, narrowing the scope and improving the detection accuracy

Active Publication Date: 2019-06-07
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, the grid size of the grid map is far lower than the distance accuracy of the original 3D lidar data, so that the detection accuracy is not high, and the distribution of 3D lidar point cloud data is relatively uneven, and many grids will have no data, resulting in calculation and waste of storage resources

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  • Lane line detection method based on three-dimensional laser radar
  • Lane line detection method based on three-dimensional laser radar
  • Lane line detection method based on three-dimensional laser radar

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Embodiment Construction

[0027] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] As an optional mode, this embodiment selects Velodyne 16-line laser radar as the sensor, such as figure 1 As described, a lane line detection method based on 3D lidar, the experimental scene is as follows figure 2 As shown, the specific steps are:

[0029] S1. Scan the road environment through the 3D laser radar to obtain the original point cloud data, and establish a 3D coordinate system with the center of the 3D laser radar as the origin, and establish the area of ​​interest, and set the x, y, and z area ranges.

[0030] The lidar is installed horizontally on the top of the vehicle, and the original data output by the 3D lidar is expressed in a Cartesian coordinate system, such as image 3 As shown, with the radar center as the origin o, the x, y, and z axes pass through the origin and are perpendicular to each other, the y-axis...

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Abstract

The invention relates to a lane line detection method based on a three-dimensional laser radar, which belongs to the field of intelligent traffic road environment perception, and is used for acquiringlane lines in a road environment. The method comprises the following steps of: establishing a three-dimensional coordinate system by taking the center of the laser radar as an original point, and setting a region of interest; detecting road edges, and extracting road edge candidate points according to geometrical characteristics of the road edges, and removing noise according to characteristics of road edge direction consistency; determining point cloud data of a road surface where the lane line is located according to the road edge position, performing layering processing on the scanning line according to different characteristics of reflection intensities of different media, setting a reflection intensity threshold to extract lane line candidate points, and performing clustering denoising according to characteristics of global continuity of the lane line; and fitting a lane line using a binomial curve. The three-dimensional laser radar sensor is used for detecting the lane line, theproblem that a traditional camera cannot recognize the lane line at night under the condition of poor illumination conditions such as strong light is solved, the detection precision is high, and thereliability is high.

Description

technical field [0001] The invention belongs to the field of traffic road environment perception in smart car technology, and relates to a lane line detection method based on a three-dimensional laser radar. Background technique [0002] In recent years, my country's automobile industry has developed rapidly, and the increase in traffic volume has also brought many traffic safety problems. In order to solve these problems, the intelligent car assisted driving system came into being. The car assisted driving system has early warning functions. The common early warning functions include obstacle detection, vehicle distance measurement, vehicle speed measurement, road curb and isolation belt recognition, lane line recognition, etc. . Among them, the identification of road lane lines, roadsides and isolation belts can effectively reduce the burden on drivers and reduce the occurrence of traffic accidents. [0003] The method based on machine vision was first used in lane line ...

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/40G06K9/62
Inventor 王茜竹常亮亮许国良李万林雒江涛
Owner CHONGQING UNIV OF POSTS & TELECOMM
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