Road marking accurate extraction method driven by vehicle-mounted laser radar point cloud

Abstract

The invention provides a road marking accurate extraction method driven by a vehicle-mounted laser radar point cloud. According to the method, the method comprises the following steps: firstly, generating a plane histogram by utilizing point intensity values; segmenting the point cloud data according to the point densities and the point intensity values to obtain grouped data with different pointdensities; threshold segmentation is carried out by using a plane histogram to maximize the between-class variance, an intensity grade critical value at the maximum between-class variance is obtained,and road markings in the data are extracted by using the intensity grade critical value and the relaxation factor; and finally, generating a research and judgment graph of the extraction result by utilizing the point density, and performing density aggregation on the extraction result according to the research and judgment graph to obtain a guest road marking result. The method is good in effectiveness and feasibility, the problem that it is difficult to rapidly and completely extract the road markings from the vehicle-mounted laser radar point cloud data with intensity noise and uneven intensity distribution is solved, and rapid and objective extraction of the road markings in the massive vehicle-mounted laser radar point cloud data is achieved.

Description

technical field [0001] The invention relates to a method for accurately extracting road markings, in particular to a method for accurately extracting road markings driven by a vehicle-mounted laser radar point cloud, and belongs to the technical field of laser radar point cloud data extraction. Background technique [0002] The development of road traffic is directly related to the development of the national economy and the improvement of people's living standards. Road markings, as auxiliary information of the road, can control and guide traffic, and are important measures to ensure safe and smooth road traffic. In the fields of assisted driving and autonomous navigation, road markings, as an important part of 3D high-precision maps, can provide users with accurate driving guidance and ensure the safety and practicality of the driving process. In the fields of road construction and road network construction update, road markings, as special materials, inevitably suffer fro...

AI Technical Summary

Problems solved by technology

The complete rate of road marking extraction is greater than 91.32%, the correct rate is greater than 90.36%, and the effective rate is greater than 95.18%. The problem of rapid and complete extraction of road markings from radar point cloud data has realized the rapid object extraction of road markings from massive vehicle-mounted lidar point cloud data

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