Lane line positioning method and device, electronic equipment and readable medium

A positioning method and technology of lane lines, applied in the field of computer readable media and lane line positioning, can solve the problems of difficulty in realizing accurate positioning of lane lines, difficulty in detecting continuous straight or curved lane lines, and unclearness.

Pending Publication Date: 2020-10-09
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In bad road conditions, lane markings usually appear discontinuous and unclear. It is difficult for existing vehicle detection algorithms to detect continuous straight or curved lane lines, and usually only intermittent lane lines or discrete lane lines can

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  • Lane line positioning method and device, electronic equipment and readable medium
  • Lane line positioning method and device, electronic equipment and readable medium
  • Lane line positioning method and device, electronic equipment and readable medium

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Embodiment Construction

[0029] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus their repeated descriptions will be omitted.

[0030] The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that the technical solutions of the present invention can be practiced without one or more of the specific deta...

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Abstract

The invention provides a lane line positioning method and device, electronic equipment and a readable medium. The method comprises the steps of obtaining multiple pieces of two-dimensional point information of a lane line through an image; determining a plurality of coordinate conversion equations according to the three-dimensional projection relationship and camera parameters; performing parameter estimation on the coordinate transformation equation based on the plurality of pieces of two-dimensional point information to obtain a two-dimensional offset parameter of the vehicle; and positioning the lane line according to the two-dimensional offset parameter. According to the lane line positioning method and device, the electronic equipment and the readable medium, when lane line detectionis inaccurate, the high-precision included angle of the vehicle body relative to the lane line and transverse deviation of the vehicle body in the lane can still be obtained, so that the lane line isaccurately positioned.

Description

technical field [0001] The present application relates to the field of intelligent driving, and in particular to a lane line positioning method, device, electronic equipment and computer readable medium. Background technique [0002] During the driving process of the vehicle, the lane line detection and positioning method can be adopted to identify the lane line to realize intelligent driving. At present, there are many methods based on visual lane line detection, and they are relatively mature. However, in order to obtain a high-precision angle between the vehicle body and the lane line and the lateral offset of the vehicle body in the lane, the lane line positioning algorithm has relatively high requirements for the lane detection algorithm, which requires the ability to detect continuous straight or curved lane lines. [0003] In bad road conditions, lane markings usually appear discontinuous and unclear. It is difficult for existing vehicle detection algorithms to detec...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06T7/73
CPCG06T7/73G06T2207/30256G06V20/588
Inventor 曹正江陶鑫刘丹
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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