Lane line detection method and device based on laser radar point cloud and camera image fusion and chip

A technology of lane line detection and image fusion, applied in the field of detection, can solve problems such as ineffectiveness, and achieve the effect of improving robustness and detection effect.

Active Publication Date: 2020-06-16
TSINGHUA UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] At present, the camera is usually used to collect images, the lidar is used to collect point clouds, and then the camera image and the lidar point cloud are detected separately, and then the detection results are fused to detect lane lines, but this method cannot effectively and accurately detect lanes Wire

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  • Lane line detection method and device based on laser radar point cloud and camera image fusion and chip
  • Lane line detection method and device based on laser radar point cloud and camera image fusion and chip
  • Lane line detection method and device based on laser radar point cloud and camera image fusion and chip

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Embodiment Construction

[0076] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. 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.

[0077] Before introducing the embodiments of the present invention, the relevant terms involved in the embodiments of the present invention are first explained as follows:

[0078] Point cloud refers to the collection of point data on the product appearance surface obtained by measuring instruments in reverse engineering.

[0079] Normalization refers to the process of performing a series of standard processing transformations on an image to transform it into a fix...

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Abstract

The invention discloses a lane line detection method and device based on laser radar point cloud and camera image fusion and a chip, relates to the technical field of detection, and aims to solve theproblem of accurately and effectively detecting lane lines. The lane line detection method based on laser radar point cloud and camera image fusion comprises the following steps: receiving road surface point cloud information and road surface image information of the same road surface; determining a lane fusion image according to the road surface point cloud information and the road surface imageinformation; determining a road surface fusion image according to the road surface point cloud information, the road surface image information and the lane fusion image. Lane lines are detected from the road surface fusion image. The lane line detection device based on laser radar point cloud and camera image fusion is used for executing the lane line detection method based on laser radar point cloud and camera image fusion. The lane line detection device and chip based on laser radar point cloud and camera image fusion are used for lane line detection.

Description

technical field [0001] The invention relates to the technical field of detection, in particular to a lane line detection method, device and chip based on laser radar point cloud and camera image fusion. Background technique [0002] In the process of driving a vehicle, it is necessary to sense and measure the surrounding environment to ensure safe driving, such as the detection of lane lines. [0003] At present, the camera is usually used to collect images, the lidar is used to collect point clouds, and then the camera image and the lidar point cloud are detected separately, and then the detection results are fused to detect lane lines, but this method cannot effectively and accurately detect lanes Wire. Contents of the invention [0004] The object of the present invention is to provide a lane line detection method, device and chip based on lidar point cloud and camera image fusion, for accurate and effective detection of lane lines. [0005] In order to achieve the ab...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/588G06F18/23G06F18/251G06F18/214
Inventor 张新钰李志伟邹镇洪李骏刘华平周沫谭启凡
Owner TSINGHUA UNIV
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