Lane line coordinate true value obtaining method and device based on unmanned vehicle
A technology for unmanned vehicles and lane lines, which is applied in the field of obtaining the true value of the coordinates of the lane lines, can solve the problems that the lane lines cannot objectively describe the performance of the lane lines, and the accuracy of the true values of the coordinates of the lane lines is poor.
Active Publication Date: 2021-04-09
MOMENTA SUZHOU TECH CO LTD
View PDF4 Cites 3 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, due to the gap between the test site and the real scene, the obtained coordinates of the lane line cannot objectively describe the performance of the lane line in the real scene, that is to say, the accuracy of the obtained lane line coordinates is poor
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0059] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0060] It should be noted that the terms "include" and "have" and any variations thereof in the embodiments of the present invention and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally further includes For other steps or units inhe...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The embodiment of the invention discloses a lane line coordinate true value obtaining method and device based on an unmanned vehicle. The method comprises the steps of obtaining a to-be-processed image, wherein the to-be-processed image is collected by the camera in the advancing process of the unmanned vehicle; determining the position of a lane line in the to-be-processed image; determining two-dimensional coordinate information of each point contained in a lane line in the to-be-processed image in an image coordinate system, calculating a product of the two-dimensional coordinate information of each point contained in the lane line in the to-be-processed image in the image coordinate system and a pre-calibrated projection matrix between the camera and the laser radar, obtaining three-dimensional coordinate information of each point, projected to the road by the laser radar corresponding to each point, contained in the lane line in the to-be-processed image; according to the three-dimensional coordinate information of each point, determining a coordinate true value of each point contained in the lane line in the vehicle coordinate system. By applying the scheme provided by the embodiment of the invention, the accuracy of acquiring the true value of the lane line coordinate can be improved.
Description
technical field [0001] The present invention relates to the technical field of intelligent driving, in particular, to a method and device for acquiring the true value of lane line coordinates based on an unmanned vehicle. Background technique [0002] During the driving process of unmanned vehicles, it needs to detect the lane lines on the road, so that it can drive in the correct area and ensure the safety of its driving. Specifically, a camera can be installed on the vehicle to collect images of the surrounding environment during the driving of the vehicle through the camera, and the lane line detection algorithm can detect lane lines on the images collected by the camera to obtain the coordinate information of the lane lines. [0003] The detection accuracy of the lane line detection algorithm will affect the accuracy of the lane line detection results. When determining the detection accuracy of the lane line detection algorithm, it is necessary to obtain the true coordi...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G06K9/00G06T7/73G01S17/86G01S17/931
CPCG06T7/73G01S17/88G01S17/06G06T2207/30256G06V20/588
Inventor 李俊许宝杯蒋竺希李翔
Owner MOMENTA SUZHOU TECH CO LTD