Road scene matching method and device

A scene matching and road technology, applied in the field of computer vision, can solve the problems of being unable to adapt to high-precision maps to meet the conditions of current situation and scene uncertainty, and slow computing speed, so as to achieve the effect of improving accuracy and solving correlation problems

Active Publication Date: 2020-02-07
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology

[0006] In the existing scene matching technology, the traditional image processing method can achieve scene matching better, but the calculation speed is very slow, an...

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  • Road scene matching method and device
  • Road scene matching method and device

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Embodiment Construction

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0043] In the existing scene matching technology, the traditional image processing method can achieve scene matching better, but the calculation speed is very slow, and the parameters need to be selected, which cannot meet the current situation and scene uncertainty required in the real-time update of high-precision maps. sexual conditions. The d...

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Abstract

The invention provides a road scene matching method and device. The method comprises the steps of inputting a road scene picture into a target detection module, and obtaining a target detection resultcorresponding to the road scene picture output by the target detection module; based on a deunay triangulation algorithm, generating an adjacency relation graph corresponding to the road scene picture according to a target detection result; inputting the adjacency relation graphs corresponding to any two road scene pictures into a graph matching module, and obtaining the similarity between the two road scene pictures output by the graph matching module; and if the similarity is greater than a preset threshold, performing feature matching on corresponding targets in the two road scene picturesto obtain a matching result. According to the method and device provided by the embodiment of the invention, the scene matching precision is improved, the speed is far higher than that of a traditional scene matching method, manual setting of selection parameters is not needed, the method and device can be widely applied to road scenes, and meanwhile, the relevance problem of a deep neural network is solved.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a road scene matching method and device. Background technique [0002] At present, among the high-precision maps that autonomous driving relies on, high-precision maps are the most basic safety guarantee for autonomous driving, and real-time updates are required to ensure the current situation of high-precision maps. The real-time update of high-precision maps is inseparable from crowdsourced collection, and crowdsourced visual data collection requires scene matching to determine data updates. [0003] In the current technical solutions, there are many ways to achieve scene matching, including scale-invariant feature transformation matching algorithm, thin-plate spline matching algorithm and accelerated robust feature matching algorithm. [0004] The traditional image processing method mainly uses the description operator of local feature points to detect the feature poi...

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Application Information

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IPC IPC(8): G06K9/62G06N3/04G06N3/08
CPCG06N3/084G06V10/751G06N3/045G06F18/22G06F18/214
Inventor 周智颖熊迹何云李汉玢何豪杰罗跃军
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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