Lane line extraction method and device, server and computer readable medium
An extraction method and extraction device technology, applied in the computer field, can solve the problems of lane line inclination, offset, and large impact of the back projection process on the outer boundary of the diversion area
Active Publication Date: 2019-07-26
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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- Claims
- Application Information
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However, the projection relationship between the point cloud space and the image space (such as the projection matrix) has a great influence on the back-projection process. If the projection relationship is inaccurate, the extracted lane line at the outer boundary of the diversion area will be tilted or offset.
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[0058] In order for those skilled in the art to better understand the technical solution of the present disclosure, the lane line extraction method and device, server and computer-readable medium provided by the present disclosure will be described in detail below with reference to the accompanying drawings.
[0059] Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
[0060] The terminology used herein is for describing particular embodiments only and is not intended to limit the present disclosure. As used herein, the singular forms "a" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwi...
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The invention provides a lane line extraction method, and a lane line is a diversion area outer boundary lane line. The method comprises the following steps: setting a diversion area main direction straight line and a plurality of measuring straight lines in a diversion area point cloud horizontal projection graph; calculating the vertical distance between each point in the point cloud of the diversion area and each measuring straight line; screening out points of which the vertical distance is smaller than a preset distance from each measuring straight line as preselected points correspondingto the measuring straight line, and forming a preselected point set corresponding to the measuring straight line by all the preselected points corresponding to each measuring straight line; screeningout two preselected points with the largest distance in the direction corresponding to the measuring straight line from the preselected point set to serve as end points corresponding to the preselected point set, and forming a diversion area outer boundary end point set by the end points corresponding to all the preselected point sets; and extracting the outer boundary lane line of the diversionarea according to the outer boundary end point set of the diversion area lane line. The invention further provides a lane line extraction device, a server and a computer readable medium.
Description
technical field [0001] The present disclosure relates to the field of computer technology, and in particular, to a lane line extraction method and device, a server, and a computer-readable medium. Background technique [0002] The diversion area is an important scene of urban roads and expressways. Accurately and effectively identifying and extracting the outer boundary lane lines of the diversion area is an important link in the production of high-precision maps. The existing high-precision map production process is mostly based on high-precision pictures to realize the recognition and extraction of lane lines outside the diversion area. Specifically, image semantic segmentation is performed on the acquired high-precision pictures and the diversion area is identified on the high-precision pictures. For the outer boundary, through the projection relationship between the point cloud space and the high-precision image, the identified outer boundary of the diversion area is bac...
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IPC IPC(8): G06T7/12G06T7/13
CPCG06T2207/10028G06T7/12G06T7/13
Inventor 周子翔
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD