Lane line detection method and device, equipment and storage medium

A detection method and technology of lane lines, which can be used in instruments, character and pattern recognition, computer parts, etc., and can solve problems such as poor detection accuracy.

Active Publication Date: 2022-01-28
SHENZHEN MINIEYE INNOVATION TECH CO LTD
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Problems solved by technology

[0004] This application provides a lane line detection method, device, equipment and storage mediu

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  • Lane line detection method and device, equipment and storage medium
  • Lane line detection method and device, equipment and storage medium
  • Lane line detection method and device, equipment and storage medium

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[0062] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0063] As recorded in related technologies, manual setting of the ROI makes the detection accuracy of lane lines poor. Manually setting the ROI to be too large will cause a computational burden and introduce more noise to affect the accuracy of lane line detection; manually setting the ROI to be too small will cause the car body to approach one side of the lane line, the far end or the other side of the lane Line loss, poor robustness; and poor adaptability and fit for large curvature curve...

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Abstract

The invention discloses a lane line detection method and device, equipment and a storage medium. The method includes acquiring an initial perspective of a lane; performing perspective transformation on the initial perspective view to obtain a first aerial view; fitting the adaptive ROI matrix of the first aerial view on the basis of the target lane line equation, so that the limitation of manually setting the ROI matrix is solved, the adaptive ROI matrix better fits the lane line, the detection accuracy of the lane line is improved, and the computing power burden is reduced; based on the target inverse perspective transformation matrix, restoring a target ROI region corresponding to the adaptive ROI matrix to the initial perspective image to obtain a target perspective image; and based on the target ROI region of the target perspective image, extracting a first lane line of a lane, reducing noise outside the lane line, increasing adaptability of a large-curvature curve, and further improving lane line detection accuracy.

Description

technical field [0001] The present application relates to the technical field of intelligent driving, and in particular to a lane line detection method, device, equipment and storage medium. Background technique [0002] Lane line detection is one of the key tasks for advanced driver assistance systems to realize intelligent driving. At present, lane line detection mainly includes lane line detection based on Udacity traditional vision and lane line detection based on deep learning methods. Among them, the lane line detection based on Udacity's traditional vision is to manually set the ROI (Region Of Interest, region of interest) in the perspective view, convert the perspective view after setting the ROI to the bird's-eye view, and extract the lane line from the bird's-eye view , and finally reconvert the lane lines extracted from the bird's-eye view to the original perspective view. [0003] However, manually setting the ROI makes the detection accuracy of lane lines poor...

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Application Information

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IPC IPC(8): G06K9/00
Inventor 程奇刘国清杨广王启程
Owner SHENZHEN MINIEYE INNOVATION TECH CO LTD
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