Lane line extraction method and device and computer equipment

A lane line and camera technology, applied in the computer field, can solve problems such as inability to effectively and accurately extract lane line information, and achieve the effects of enhancing scientificity, reducing costs, and reducing risk factors

Pending Publication Date: 2020-04-28
BEIJING UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE
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Problems solved by technology

[0005] In view of this, this application provides a lane line extraction method, device and computer equipment, the main purpose of which i

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  • Lane line extraction method and device and computer equipment
  • Lane line extraction method and device and computer equipment
  • Lane line extraction method and device and computer equipment

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Embodiment Construction

[0025] Hereinafter, the present application will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0026] In view of the problem that the existing single lane line extraction method cannot effectively and accurately extract lane line information, the embodiment of the present application provides a lane line extraction method, such as figure 1 As shown, the method includes:

[0027] 101. The camera and the three-dimensional laser scanning lens are jointly calibrated, and the spatial conversion relationship between the camera coordinate system and the laser radar coordinate system is calculated.

[0028] In a specific application scenario, when performing target detection, the camera and the lidar can be calibrated jointly, and the spatial transformation relationship between the ...

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Abstract

The invention discloses a lane line extraction method and device and computer equipment, relates to the technical field of computers, and can solve the problem that lane line information cannot be effectively and accurately extracted. The method comprises the steps: calibrating a camera and a three-dimensional laser scanning lens jointly, and obtaining the space conversion relation between a camera coordinate system and a laser radar coordinate system through calculation; projecting the obtained point cloud data to a two-dimensional plane according to the space conversion relationship to obtain a to-be-detected image; utilizing an edge detection algorithm to extract a lane line contour in the to-be-detected image; and screening out lane line point cloud data, and converting the lane line contour into a laser radar coordinate system by utilizing the lane line point cloud data to obtain lane line information. The method is suitable for accurate detection of the lane line.

Description

technical field [0001] The present application relates to the field of computer technology, in particular to a lane line extraction method, device and computer equipment. Background technique [0002] With the transformation and development of the automobile industry, autonomous driving has become a popular development direction. However, the existing road-level map data cannot meet the accuracy requirements. Using road-level map information is difficult to achieve automatic driving path planning and overall system decision-making. Therefore, it is necessary to obtain more High-level lane-level information. The extraction of lane lines is an important part of making high-precision maps and realizing automatic driving. [0003] At present, the detection and extraction of lane lines is mainly divided into two categories: visual image processing and laser data processing. The sensors for visual image processing include monocular, binocular and multi-eye cameras. LiDAR is also ...

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Application Information

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IPC IPC(8): G06T7/13G06T7/80G06K9/00G06K9/46
CPCG06T7/13G06T7/85G06T2207/10028G06T2207/30256G06V20/588G06V10/44
Inventor 黄鹤衣鹏军梁祺策孟维明于腾飞庞然
Owner BEIJING UNIVERSITY OF CIVIL ENGINEERING AND ARCHITECTURE
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