Information completion method, lane line recognition method, intelligent driving method and related products
A technology of completion and intensity information, applied in the field of computer vision, can solve the problems of affecting depth information acquisition, poor robustness, intensity information completion, etc., to achieve the effect of improving utilization
Active Publication Date: 2022-04-22
ZHEJIANG SENSETIME TECH DEV CO LTD
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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
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[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...
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The embodiment of the present application discloses an information completion method, a lane line recognition method, an intelligent driving method and related products. The information completion method includes: obtaining multi-frame point cloud data, and each frame point cloud data The cloud data includes depth information and intensity information; according to the depth information and intensity information of at least one frame of point cloud data other than the reference point cloud data in the multi-frame point cloud data, the reference point cloud data is complemented to obtain the same The target point cloud data corresponding to the reference point cloud data; wherein, the depth information of the target point cloud data is denser than the depth information of the reference point cloud data, and the intensity information of the target point cloud data is denser than the reference point cloud data The intensity information of the point cloud data is dense, and the reference point cloud data is any frame of point cloud data in the multi-frame 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...
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IPC IPC(8): G06V20/58G01S17/931
CPCG06V20/588G01S17/931G06F18/00G06N3/08G01S17/894G01S7/497G06V20/56
Inventor 陈申周刘余钱
Owner ZHEJIANG SENSETIME TECH DEV CO LTD