Highway guardrail vectorization method and device based on vehicle-mounted LIDAR data

Abstract

The invention relates to the field of intelligent transportation, in particular to an expressway guardrail vectorization method and device based on vehicle-mounted LIDAR data. According to the method, data extraction is carried out on the highway guardrail through vehicle-mounted LIDAR (Light Detection and Ranging), guardrail data elements can be effectively extracted, noisy points and mistaken points occurring in the extraction process are reduced, and meanwhile the integrity of the guardrail is effectively reserved. Through carrying out single objectification processing on guardrail LIDAR scanning data, single separated expression can be carried out on an expressway boundary guardrail and a center guardrail, so that the expressway boundary guardrail and the center guardrail have independent entity information; vectorization is carried out on independent segmentation guardrail data in a three-dimensional coordinate system, data redundancy is effectively reduced, finally, the data redundancy is reduced according to fitting processing, meanwhile, a curve is smoother, more storage space is saved, the data fitting precision is effectively improved, and the data fitting efficiency is improved. And an important basic technical support is provided for implementation of a series of technologies of subsequent highway digital construction.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a method and device for vectorizing highway guardrails based on vehicle-mounted LIDAR data. Background technique [0002] As one of the infrastructures of the expressway, the guardrail is an important road boundary constraint facility. In many traffic informatization applications such as smart expressway construction and expressway high-precision map production, the spatial position and direction of guardrails are used as important boundary benchmarks for the digital base of expressways. Now, the digitization of conventional expressway guardrails mainly relies on manual interaction vectorization. After the drawing is completed, the operation efficiency is low, and the level of vectorization accuracy varies with the operator, which cannot be applied to the implementation of the digital standardization technology of expressway infrastructure. [0003] 3D laser scanning is...

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Problems solved by technology

[0005] However, there are three major disadvantages in the existing method: 1. The calculation accuracy and efficiency of the local radar point cloud data acquired in real time are seriously affected by the field of view of the sensor, which is only conducive to the detection of obstacles within a short field of view of driving, and cannot be applied to long-distance guardrails. 2. Only based on the combined judgment conditions of obstacle probability and relative lateral velocity, the pure identification and extraction of road guardrail point cloud data cannot be realized, and a large number of environmental noise point clouds such as vegetation and other static traffic safety facilities will be introduced data, which is not conducive to the further processing of subsequent point cloud data; 3. Directly performing curve fitting calculations on all point cloud data of the guardrail will not be able to obtain an accurate spatial position of the centerline of the road guardrail, which will seriously affect the accuracy of the true direction of the guardrail line. Related calculations The results cannot be used for the implementation of a series of expressway digitalization technologies such as high-precision expressway map production and rapid 3D reconstruction of real scenes based on trajectory lines

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