Information completion method, lane line identification method, intelligent driving method and related products
A technology for lane line recognition and completion, applied in the field of computer vision, can solve problems such as affecting depth information acquisition, poor robustness, and strength information completion, and achieve the effect of improving utilization.
Active Publication Date: 2021-05-04
ZHEJIANG SENSETIME TECH DEV CO LTD
View PDF8 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, LiDAR measurement data also contains intensity information, but because the intensity information is related to other factors such as the surface material of the target and the incident angle direction of the laser, the intensity information cannot be completed. Therefore, the current LiDAR measurement data Low utilization rate; due to the inability to complete the intensity information, when only using the completed depth information for lane line recognition, the ambient brightness will affect the acquisition of depth information, resulting in low recognition rate and poor robustness
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
[0122] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. According to the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0123] The terms "first", "second", "third" and "fourth" in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order . Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to th...
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 an information completion method, a lane line identification method, an intelligent driving method and related products. The information completion method comprises steps of obtaining multiple frames of point cloud data, each frame of point cloud data in the multiple frames of point cloud data comprising depth information and intensity information; according to depth information and intensity information of at least one frame of point cloud data except the reference point cloud data in the multiple frames of point cloud data, complementing the reference point cloud data to obtain target point cloud data corresponding to the reference point cloud data; wherein the depth information of the target point cloud data is more dense than the depth information of the reference point cloud data, the intensity information of the target point cloud data is more dense than the intensity information of the reference point cloud data, and the reference point cloud data is any frame of point cloud data in the multiple frames of point cloud data.
Description
technical field [0001] This application relates to the technical field of computer vision, in particular to an information completion method, a lane line recognition method, an intelligent driving method and related products. Background technique [0002] At present, in terms of target detection, LiDAR (Light Detection And Ranging, LiDAR) is used to actively project a pulsed laser with multiple scan lines to the target, and the target is measured through backscattered echoes. Since laser light does not belong to visible light, LiDAR still works well even in poor lighting conditions. Therefore, LiDAR is widely used in various fields. For example, in driverless driving, LiDAR is used to extract lane lines. Although LiDAR is not affected by light, due to the limitation of its vertical resolution and angular resolution, the measurement data of LiDAR is very sparse. In order to make full use of the measurement data of LiDAR, firstly, the sparse depth information in the measuremen...
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): G06K9/00G01S17/931
CPCG06V20/588G01S17/931G06N3/08G01S17/894G01S7/497G06V20/56
Inventor 陈申周刘余钱
Owner ZHEJIANG SENSETIME TECH DEV CO LTD