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Method and system for extracting road outer side line based on projection drawing

A projection map, road technology, applied in image data processing, instruments, 3D modeling, etc., can solve the problem of long time, and achieve the effect of increasing the production time and reducing the extraction time.

Active Publication Date: 2021-03-02
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the technical problems in the prior art, the present invention provides a method and system for extracting the outer line of the road based on the projection map, which solves the time-consuming problem in the prior art

Method used

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  • Method and system for extracting road outer side line based on projection drawing
  • Method and system for extracting road outer side line based on projection drawing
  • Method and system for extracting road outer side line based on projection drawing

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Embodiment 1

[0044] Embodiment 1 provided by the present invention is an embodiment of a method for extracting road outer lines based on a projection map provided by the present invention, and this embodiment includes:

[0045] Step 1. Project the top view of the road in the laser point cloud data into a two-dimensional image.

[0046] Step 2, taking the direction of the road as the row direction of the two-dimensional image, and extracting the outer line of the road according to the number of pixels and the gray value of each row in the two-dimensional image.

[0047] Preferably, step 2 includes:

[0048] Step 201: Count the mean value of the number of pixels and the mean value of the pixel grayscale value of each row in the middle area of ​​the two-dimensional image, and determine the rough position of the outer line of the road according to the mean value of the number of pixels and the mean value of the grayscale value of the pixel.

[0049] Further, step 201 includes:

[0050] Step ...

Embodiment 2

[0071] Embodiment 2 provided by the present invention is an embodiment of a system for extracting road outer lines based on projection maps provided by the present invention, such as figure 2 Shown is a structural block diagram of an embodiment of a system for extracting road outer lines based on projection maps provided by the present invention, consisting of figure 2 It can be seen that the system includes: a two-dimensional image generation module 101 and a road outside line extraction module 102 .

[0072] The two-dimensional image generating module 101 is configured to project the top view of the road in the laser point cloud data into a two-dimensional image.

[0073] The road outer line extraction module 102 is configured to use the road direction as the row direction of the two-dimensional image, and extract the road outer line according to the number of pixels and the pixel gray value of each row in the two-dimensional image.

[0074] image 3 A schematic diagram ...

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Abstract

The invention relates to a method and a system for extracting a road outer side line based on a projection drawing. The method comprises the following steps: projecting a road overlook in laser pointcloud data into a two-dimensional image; and taking the road direction as the row direction of the two-dimensional image, and extracting the outer side line of the road according to the pixel point number and the pixel gray value of each row in the two-dimensional image. According to the method, the outer side of the road in the laser point cloud data is projected into the two-dimensional image data, and the outer side line of the road is extracted based on the number of pixel points in each row in the two-dimensional image and the gray value, so that the time for extracting the outer side line of the road in the high-precision map is shortened, and the time for manufacturing the high-precision map is greatly prolonged.

Description

technical field [0001] The invention relates to the field of making high-precision maps for automatic driving, in particular to a method and system for extracting road outer lines based on projection maps. Background technique [0002] High-precision maps, generally speaking, are electronic maps with higher precision and more data dimensions. The higher accuracy is reflected in the accuracy to the centimeter level, and the data dimension is more reflected in the fact that it includes surrounding static information related to traffic in addition to road information. For example, the lane information such as the position, type, width, slope and curvature of the lane line, and the fixed object information around the lane such as traffic signs, traffic lights, lane height limits, sewer crossings, obstacles and other road details. [0003] The outer line of the road is one of the elements of making a high-precision map. When making a high-precision map, it is first necessary to ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46G06T17/05G06T17/20
CPCG06T17/05G06T17/20G06V20/588G06V10/44
Inventor 侯国强惠念周智颖罗跃军
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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