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Road surface and automatic extraction method of marker lines thereof

An automatic extraction and marking line technology, applied in the field of data processing, can solve the problems of dependence and non-universal use, and achieve the effect of improved processing efficiency, less point cloud data, and convenient automatic extraction

Active Publication Date: 2020-04-28
成都奥伦达科技有限公司
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  • Application Information

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Problems solved by technology

[0010] The invention provides an automatic road surface extraction method to solve the problem that the existing automatic road surface extraction methods rely too much on single-line system data and cannot be used universally

Method used

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  • Road surface and automatic extraction method of marker lines thereof
  • Road surface and automatic extraction method of marker lines thereof
  • Road surface and automatic extraction method of marker lines thereof

Examples

Experimental program
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Embodiment 1

[0059] The technical solution provided by this embodiment can use existing technical means to realize automatic extraction of road surfaces and marking lines using computer language. The automatic extraction method flow of road surfaces and marking lines is as follows: figure 1 shown, including the following steps:

[0060] Step 1: Obtain road collection data from existing collection equipment, which can be mobile lidar data (which can be single-system data or multi-system data) from a mobile lidar collection system, or other existing data. Collect the collected data obtained in the equipment / system, use statistical filtering to eliminate outliers, and select road surface candidate points from the lidar data according to GNSS (all countries' satellite) trajectory data and elevation information;

[0061] The specific implementation of this step is as follows:

[0062] Step 1.1, build a k-d tree to index the neighborhood of each point cloud, and calculate the average distance ...

Embodiment 2

[0105] The difference between this embodiment and the first embodiment is that the Beidou satellite navigation system is used to obtain trajectory data and point cloud data.

Embodiment 3

[0107] The difference between this embodiment and the first embodiment is that, in the step of extracting the road surface, the height difference between the road surface and the edge of the road surface is defined. Road surface edges include, but are not limited to, roadside trees, floor tiles, blind roads, street lights, etc.

[0108] Each height difference corresponds to at least one preset width range of the road surface. In the process of road surface extraction, by calculating the height difference between the road surface and the road surface edge, the preset width range of the road surface corresponding to the height difference is extracted, and the difference between the preset width range of the road surface and the measured road surface edge is extracted. The distances between the two are compared, and when comparing, at least three points on the same road are compared. If the distance between the edges of the road surface is less than the preset width range of the...

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Abstract

The invention relates to the field of mobile laser radar data processing, and discloses a universal automatic extraction method for a mobile laser radar data road surface, which comprises the following steps: step 1, eliminating outliers by using a statistical filtering method, and extracting road surface candidate points from laser radar data according to trajectory data and elevation information; step 2, segmenting the candidate points into a plurality of pseudo scanning lines along the advancing direction of the vehicle, and converting a coordinate system of the point cloud into a local coordinate system based on the pseudo scanning lines; and step 3, achieving road surface extraction by detecting height mutation between the road surface and the kerb or the drainage ditch. The inventionfurther discloses an automatic extraction method of the road surface marker line. According to the method, the trajectory data, the three-dimensional coordinates of the point cloud, the intensity information and the intensity gradient information are comprehensively utilized, different types of mobile laser radar data are effectively organized, the road surface and the marker line are automatically extracted, and the method is generally suitable for different types of mobile laser radar systems.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a general automatic extraction method of road surfaces and marking lines thereof. Background technique [0002] Road surfaces and marking lines are important elements of the urban spatial database. They play an important role in high-precision positioning, environmental perception, path planning, and simulation experiments. They are the spatial data necessary for the development of smart cities and smart transportation. [0003] With the acceleration of urban digitization, traditional surveying and mapping methods can no longer meet the rapid acquisition and update of modern spatial data. As an active remote sensing technology, mobile lidar technology can quickly acquire high-precision road scene data during driving by transmitting laser pulses and receiving echo signals. At present, the mobile lidar systems that can be used to obtain high-precision data in the commercia...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/40G06K9/62
CPCG06V20/64G06V20/588G06V10/30G06F18/2433
Inventor 刘健飞李启涛谭骏祥
Owner 成都奥伦达科技有限公司
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