Laser point cloud lane line extraction method and electronic equipment

A technology of laser point cloud and extraction method, which is applied in the direction of character and pattern recognition, instruments, computer components, etc., can solve the problems of high training cost and load, achieve high extraction accuracy, high processing efficiency, and improve accuracy and completeness Effect

Active Publication Date: 2020-10-16
ECARX (HUBEI) TECH CO LTD
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Problems solved by technology

In order to obtain high-precision lane lines, a large number of lane line

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  • Laser point cloud lane line extraction method and electronic equipment
  • Laser point cloud lane line extraction method and electronic equipment
  • Laser point cloud lane line extraction method and electronic equipment

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[0078] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0079] An embodiment of the present invention proposes a method for extracting lane lines from a laser point cloud. figure 1 A schematic flowchart of a method for extracting lane lines from a laser point cloud according to an embodiment of the present invention is shown. see figure 1 As shown, the method may at least include the following steps S102 to S112.

[0080] Step S102, acquiring the laser point cloud including the lane. ...

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Abstract

The invention provides a laser point cloud lane line extraction method and electronic equipment. The method comprises the steps of acquiring laser point cloud comprising a lane; based on the elevationvalue of each point in the laser point cloud, removing non-ground points from the laser point cloud to obtain ground point cloud; converting the ground point cloud into a binary image based on a grayvalue; performing region growing clustering on the binary image to generate at least one clustering region; performing principal component analysis on each clustering region to obtain a shape descriptor of each clustering region, and extracting ground points for generating lane lines from the ground points of each clustering region based on the shape descriptors; and fitting the ground points forgenerating the lane lines to generate the lane lines so as to manufacture a high-precision map. According to the method, the lane lines can be automatically and accurately extracted from massive point cloud data, the processing efficiency is high, and the extraction precision is high.

Description

technical field [0001] The invention relates to the technical field of high-precision maps, in particular to a method for extracting lane lines from laser point clouds and electronic equipment. Background technique [0002] At present, traditional road-level maps can no longer meet the needs of advanced driver assistance systems, and lane-level high-precision maps are widely used in advanced driver assistance systems because they can provide more road information that can help vehicles locate, navigate, and make decisions. middle. Lane lines are the core component of lane-level high-precision maps, and correct extraction of lane lines is a prerequisite for ensuring the accuracy of lane-level maps. [0003] In the prior art, there are mainly the following methods for extracting lane lines. In the first method, human editors identify lane lines. This method mainly relies on manually drawing lane lines on point clouds or images, which has low efficiency, high cost, and canno...

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Application Information

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IPC IPC(8): G06K9/00G06K9/34G06K9/62
CPCG06V20/588G06V10/267G06F18/23G06F18/2135
Inventor 刘立丁亚芬
Owner ECARX (HUBEI) TECH CO LTD
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