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Lane line tracking method and device and device for lane line tracking

A lane line and tracking point technology, applied in the computer field, can solve problems such as large deviations in prediction results, and achieve the effect of improving robustness and accuracy

Pending Publication Date: 2021-09-03
BEIJING SOGOU TECHNOLOGY DEVELOPMENT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For lane lines with many interruptions, occlusions, or blurs, or when the vehicle's motion state changes greatly, the prediction results obtained by existing methods will have large deviations.

Method used

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  • Lane line tracking method and device and device for lane line tracking
  • Lane line tracking method and device and device for lane line tracking
  • Lane line tracking method and device and device for lane line tracking

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Embodiment Construction

[0052]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but 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 creative efforts fall within the protection scope of the present invention.

[0053] method embodiment

[0054] refer to figure 1 , which shows a flow chart of the steps of an embodiment of a lane line tracking method according to the present invention, which may specifically include the following steps:

[0055] Step 101, identifying the lane line area of ​​each image frame in the continuous image frames;

[0056] Step 102: Perform optical flow tracking on the feature points of each lane line area included in the previous fram...

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Abstract

The embodiment of the invention provides a lane line tracking method and device and a device for lane line tracking. The method comprises the following steps: identifying a lane line area of each image frame in continuous image frames; performing optical flow tracking on the feature points of the lane line areas included in the previous frame in the continuous image frames to obtain first tracking points corresponding to the feature points of the lane line areas included in the previous frame in the next frame; determining a second tracking point located in each lane line area included in the next frame in the first tracking point; and determining a tracking result of the lane line in the previous frame in the next frame according to the first tracking point and the second tracking point. According to the embodiment of the invention, the robustness and accuracy of lane line tracking can be improved.

Description

technical field [0001] The present invention relates to the technical field of computers, in particular to a lane line tracking method and device and a lane line tracking device. Background technique [0002] In recent years, in order to reduce road traffic accidents and ensure driving safety, the intelligent assisted driving technology of automobiles has become a research hotspot. Lane line tracking is to predict the position of the lane line in the next frame based on the lane information detected in the previous frame. It is one of the key technologies for intelligent assisted driving. [0003] At present, the method of Kalman filtering (Kalman filtering) is usually used for lane line tracking. However, the Kalman filter method is to predict the position of the lane line in the next frame according to the historical motion state of the lane line. This method has a better tracking effect on the ideal lane line (less interruption, occlusion or blur). For lane lines that a...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/269G06T7/215G06K9/00
CPCG06T7/248G06T7/269G06T7/215G06T2207/10016G06T2207/30256
Inventor 任印政杨雨然
Owner BEIJING SOGOU TECHNOLOGY DEVELOPMENT CO LTD