Signboard identification method and device for automatic driving

An automatic driving and signage technology, applied in the field of navigation, can solve the problems of positioning technology error, position deviation of signboard apex, inability to accurately identify signboards, etc., and achieve the effect of improving accuracy, avoiding too small, and optimizing reliability

Active Publication Date: 2021-09-17
智道网联科技(北京)有限公司
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the signage recognition technology of related technologies is limited by software and hardwa

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 more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Signboard identification method and device for automatic driving
  • Signboard identification method and device for automatic driving
  • Signboard identification method and device for automatic driving

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0051] Example 1:

[0052] figure 1 It is a flow chart of the identification card identification method for automatic driving as shown in the embodiment of the present application.

[0053] See figure 1 , An identification method for automatic driving, including:

[0054] In step S101, the bound border frames of the identifier card and the plurality of vertices of the bounding box are obtained.

[0055] In one embodiment, the automatic driving vehicle is provided with a photographing device, including, but not limited to, a single-grade camera. Single-graphic camera is disposed at a suitable location of the vehicle, for example, a single-grade camera may be disposed at the front windshield of the vehicle or disposed at the rear view of the vehicle so that the vehicle automatic travel process single camera can shoot including road signage. image.

[0056] In one embodiment, the plurality of vertices of the bounding box and the bound boxes of the identifier card can be obtained by ...

Example Embodiment

[0069] Example 2:

[0070] figure 2 Another process diagram of the identification card identification method for automatic driving as shown in the embodiment of the present application.

[0071] See figure 2 , An identification method for automatic driving, including:

[0072] In step S201, a plurality of vertices of the bounding box of the identifier card and the boundary box are obtained.

[0073] This step can be found in the description of step S101, and details will not be described here.

[0074] In step S202, according to the boundary box of the identification card, the image including the N pixel width outside the boundary frame is acquired, and n is a positive intent of the statistical pixel offset error value greater than the boundary frame identified by the depth learning model.

[0075] In one embodiment, if Figure 4 As shown, the depth learning model does not fully contain the entire identification card according to the bottom right corner of the boundary block 401 o...

Example Embodiment

[0091] Example 3:

[0092] image 3 Another process diagram of the identification card identification method for automatic driving as shown in the embodiment of the present application.

[0093] See image 3 , An identification method for automatic driving, including:

[0094] In step S301, the bound border of the identifier card and the plurality of vertices of the boundary box are obtained.

[0095] This step can be found in the description of step S101, and details will not be described here.

[0096] In step S302, according to the boundary box of the identification card, the image including the N pixel width of the boundary frame is acquired, and n is a positive intent of the statistical pixel offset error value of the bounding frame that is greater than the depth learning model recognition.

[0097] This step can be found in the description of step S202, and details will not be described here.

[0098] In step S303, a plurality of corner blocks are generated on the image, each c...

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

No PUM Login to view more

Abstract

The invention relates to a signboard identification method and device for automatic driving. The method comprises the following steps: acquiring a bounding box of a signboard and a plurality of vertexes of the bounding box; according to the bounding box of the signboard, obtaining an image including n pixel widths outside the bounding box, n being a positive integer greater than a statistical pixel offset error value of the bounding box identified by the deep learning model; generating a plurality of corner blocks on the image, wherein each corner block of the plurality of corner blocks takes each vertex of the plurality of vertexes as the center, 2m + 1 pixels are the side length, and m is a positive integer smaller than n; obtaining edge information of each corner block according to the gradient information of each corner block of the plurality of corner blocks; according to the edge information of each corner block, obtaining an intersection point of each corner block; and obtaining the bounding box of the signboard again according to the intersection point of each angular point block. According to the scheme provided by the invention, the bounding box of the signboard can be accurately obtained, and the accuracy of obtaining the vertex position of the signboard is improved.

Description

technical field [0001] The present application relates to the technical field of navigation, and in particular to a method and device for identifying a signboard for automatic driving. Background technique [0002] With the development of autonomous driving technology, integrated navigation systems of related technologies such as GNSS / IMU integrated navigation systems cannot provide accurate and reliable positioning results in many special scenarios, which further affects subsequent planning and control. GNSS (Global Navigation Satellite System, Global Navigation Satellite System) is a satellite-based satellite positioning system, and the IMU navigation system is an inertial navigation system based on IMU (Inertial Measurement Unit, Inertial Measurement Unit). [0003] The high-precision map-based positioning technology of the related technology can extract the road factors (such as signs, lane lines, etc.) obtained by the visual sensor from the visual information, match the...

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
no application Login to view more
IPC IPC(8): G06K9/00G06K9/46G06K9/62
CPCG06F18/22
Inventor 李岩张海强李成军
Owner 智道网联科技(北京)有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap