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

A vehicle-mounted laser radar and road marking technology, which is applied in the field of laser radar point cloud data extraction, can solve the problems of uneven intensity distribution and extraction of road markings, etc.

Active Publication Date: 2019-12-03
北京亚太文融数据技术研究院
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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

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

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Embodiment Construction

[0077] The following is a further description of the technical solution of a method for accurately extracting road markings driven by vehicle-mounted lidar point clouds provided by the present invention in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention and implement it.

[0078] see Figure 1 to Figure 3 , a vehicle-mounted lidar point cloud driven road marking accurate extraction method provided by the present invention uses the intensity value information and density information of the vehicle-mounted lidar point cloud data on the basis of the extracted road segment area blocks to The extraction of road markings includes two processes of plane feature spectrum extraction of road markings and road marking aggregation. The plane feature spectrum extraction of road markings specifically includes point intensity plane feature spectrum generation, point cloud density segmentation grouping, point There are t...

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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...

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Application Information

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IPC IPC(8): G06K9/00G01S17/89
CPCG01S17/89G06V20/588
Inventor 扆亮海
Owner 北京亚太文融数据技术研究院
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