Automatic marking method of traffic lights and computer equipment
An automatic labeling, traffic light technology, applied in the directions of maps/plans/charts, instruments, educational appliances, etc., can solve the problems of time-consuming, labor-intensive, error-prone, etc., and achieve the effect of solving the complex labeling process
Active Publication Date: 2021-04-30
SHENZHEN ANTU AUTONOMOUS DRIVING TECH LTD
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Problems solved by technology
This method not only requires a lot of labor, but also operates in three-dimensional space, which is very difficult, time-consuming and energy-consuming, and error-prone
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[0045] In describing the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical" , "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating Or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the invention.
[0046] In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly inclu...
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The invention provides an automatic marking method for traffic lights. The method comprises the following steps: acquiring image data and point cloud data, wherein the point cloud data comprises a plurality of point data; identifying a traffic light area in the image data; constructing a two-dimensional frame of the traffic light area in the image data; determining point data in an area corresponding to the two-dimensional frame in the point cloud data according to the two-dimensional frame; adding a label to the point data; counting the number of first tags of the point data in a preset time period; setting the point data of which the number of the first labels reaches a preset value as traffic light point data, wherein the plurality of traffic light point data form traffic light point cloud data; and constructing a three-dimensional frame in the point cloud data according to the traffic light point cloud data. The invention further provides computer equipment applying the method. According to the method, the traffic light can be automatically identified according to the image data and the point cloud data, the three-dimensional frame is constructed for the traffic light, the traffic light identification efficiency and accuracy are improved, and the labor cost is reduced.
Description
technical field [0001] The invention relates to the field of automatic driving, in particular to a method for automatically marking traffic lights and computer equipment. Background technique [0002] With the advancement and development of science and technology, self-driving vehicles basically have the ability to operate and drive automatically. The self-driving technology mainly uses on-board sensors (such as cameras, lidar, etc.) Information such as vehicle position, traffic signs and obstacles, controls the steering and speed of the vehicle, among which timely and accurate identification of traffic lights is an important prerequisite for the vehicle to be able to drive safely and reliably on the road. [0003] Among the elements of high-definition maps, unlike other elements on the ground, such as lane lines, which can be seen from a 2D perspective from a top-down perspective, L4 / L5 level autonomous vehicles need to accurately mark the three-dimensional spatial position...
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IPC IPC(8): G09B29/00
CPCG09B29/006
Inventor 肖健雄
Owner SHENZHEN ANTU AUTONOMOUS DRIVING TECH LTD