Lane line grouping method, device, electronic device and computer-readable storage medium

Abstract

The present application relates to a lane line grouping method, apparatus, electronic device, and computer-readable storage medium. The method includes: splitting the contour of a lane line based on the obtained lane line contour points within the same frame image to obtain a plurality of convex polygons; fitting the convex polygons into rectangles, wherein the long side direction of the rectangle is the same as the driving direction; performing in-frame grouping on all the fitted rectangles; and performing inter-frame merging on the same groups of different frames in sequence to obtain the grouped lane lines. The solution provided by the present application can quickly and efficiently group lane lines, especially for intersecting and curved lane lines.

Description

Technical Field

[0001] This application relates to the technical field of autonomous driving high-precision map making, and particularly to a lane line grouping method, device, electronic device, and computer-readable storage medium based on image processing technology. Background Art

[0002] The production of high-precision maps requires processing a large amount of complex lane line data. Processing all the lane line contour points simultaneously may consume a large amount of time and computing resources. Therefore, grouping processing can be adopted to improve the processing efficiency, and grouping can also better adapt to complex road environments to provide more accurate lane line information for autonomous driving.

[0003] In related technologies, clustering methods can be used to group lane line data. However, these methods have a high computational complexity. Especially for a large number of lane line contour points, the efficiency may be low when processing a large number of curved lane line contour points, and even misgroup the lane line data collected by the vehicle during lane change, thereby affecting subsequent lane line processing. Summary of the Invention

[0004] To solve or partially solve the problems in the related technologies, this application provides a lane line grouping method, device, electronic device, and computer-readable storage medium, which can quickly and efficiently group lane lines, especially for intersecting and curved lane lines.

[0005] The first aspect of this application provides a lane line grouping method, including:

[0006] Based on the lane line contour points in the same frame of image obtained, split the contour of the lane line to obtain a plurality of convex polygons;

[0007] Fit the convex polygons into rectangles, where the long side direction of the rectangle is the same as the driving direction;

[0008] Perform intra-frame grouping on all the rectangles obtained by fitting;

[0009] Merge the same groups in different frames in sequence for inter-frame merging.

[0010] In an optional embodiment, the splitting the contour of the lane line based on the lane line contour points in the same frame obtained to obtain a plurality of convex polygons includes:

[0011] Split the concave polygon formed by the contour of the intersecting or curved lane line into a plurality of convex polygons, where each convex polygon represents a different part of the lane line.

[0012] In an optional embodiment, the performing intra-frame grouping on all the rectangles obtained by fitting includes:

[0013] Determine whether the horizontal distance between the two rectangles is below a set first distance threshold. If so, the two rectangles are in the same group; otherwise, the two rectangles are each in a separate group.

[0014] In an alternative embodiment, the intra-frame grouping of all the rectangles obtained by fitting further includes:

[0015] Sort the grouped rectangles.

[0016] In an alternative embodiment, the inter-frame merging of the same group in different frames according to the sequence includes:

[0017] According to different frames, use two-layer loops to compare and merge the same group of consecutive frames.

[0018] In an alternative embodiment, the use of two-layer loops to compare and merge the same group of consecutive frames according to different frames includes:

[0019] After determining that there is an overlapping area between the rectangles in the j-th group of the (i + 1)-th frame and the rectangles in the j-th group of the i-th frame, determine that the horizontal and vertical distances between the rectangles in the j-th group of the (i + 1)-th frame and the rectangles in the j-th group of the i-th frame meet the set conditions;

[0020] Wherein, both i and j are positive integers, the horizontal distance between the rectangles in the j-th group of the (i + 1)-th frame and the rectangles in the j-th group of the i-th frame is below a set second distance threshold, and the included angle in the long side direction is below a set angle threshold, and the vertical distance is below a set third distance threshold.

[0021] In an alternative embodiment, the use of two-layer loops to compare and merge the same group of consecutive frames according to different frames further includes:

[0022] After obtaining the j-th merged group according to the matrix of the i-th frame, estimate the rectangles in the j-th group of the (i + 1)-th frame according to the curvature at the end of the j-th merged group, where both i and j are positive integers and i ≥ 2;

[0023] According to the estimated rectangles, determine whether to merge the rectangles in the j-th group of the (i + 1)-th frame.

[0024] A second aspect of the present application provides a lane line grouping device, including:

[0025] A splitting module, configured to split the contour of the lane line based on the obtained lane line contour points within the same frame image to obtain a plurality of convex polygons;

[0026] A fitting module, configured to fit the convex polygons into rectangles, wherein the long side direction of the rectangle is the same as the driving direction;

[0027] A grouping module configured to perform in-frame grouping on all the rectangles obtained by fitting.

[0028] A merging module configured to perform inter-frame merging on the same groups in different frames in sequence.

[0029] A third aspect of the present application provides an electronic device, including:

[0030] A processor; and

[0031] A memory storing executable code thereon, which, when executed by the processor, causes the processor to execute the method described above.

[0032] A fourth aspect of the present application provides a computer-readable storage medium storing executable code thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method described above.

[0033] The technical solution provided by the present application may include the following beneficial effects:

[0034] In the technical solution of the present application, by splitting the contour of the lane line corresponding to the lane line contour points in the same frame image to obtain a plurality of convex polygons, and then fitting the convex polygons into rectangles, splitting the lane lines in the present application can clearly define each part of the lane line. Especially for intersecting or curved lane lines, it can improve the recognition and positioning accuracy of the lane line. Moreover, after splitting and fitting into rectangles, the long side direction of the rectangle is the same as the driving direction, which can also accurately determine the direction and boundary of the lane line. At the same time, using rectangles to fit the lane line contour can simplify the complex lane line shape into rectangles with clear set features, which is also more convenient for storage and processing; performing in-frame grouping on all the rectangles obtained by fitting, first grouping the rectangles in the same frame, and the small amount of data to be grouped is less likely to cause grouping errors; then performing inter-frame merging on the same groups according to the sequence of different frames to obtain the grouped lane line rectangles. In the present application, by means of rectangles for grouping and merging of lane lines, the processing efficiency of lane lines can be improved, the grouping efficiency can be higher, and the grouping error can also be reduced. Therefore, the technical solution of the present application can quickly and efficiently group lane lines, especially for intersecting and curved lane lines.

[0035] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other objects, features, and advantages of the present application will become more apparent by describing the exemplary embodiments of the present application in more detail with reference to the accompanying drawings, in which, in the exemplary embodiments of the present application, the same reference numerals generally represent the same components.

[0037] Figure 1 is a schematic flowchart of a lane line grouping method shown in an embodiment of the present application;

[0038] Figure 2 is a schematic structural diagram of a lane line grouping device shown in an embodiment of the present application;

[0039] Figure 3 is a schematic structural diagram of an electronic device shown in an embodiment of the present application. Detailed Embodiments

[0040] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present application will be more thorough and complete, and can fully convey the scope of the present application to those skilled in the art.

[0041] The terms used in the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "the", and "said" used in the present application and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0042] It should be understood that although the terms "first", "second", "third", etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0043] In the related art, a clustering method can be used to group lane line data. However, such methods have a high computational complexity. Especially for a large number of lane line contour points, the efficiency may be low when processing a large number of curved lane line contour points, and even misgroup the lane line data collected by the vehicle during lane change, thereby affecting subsequent lane line processing.

[0044] In view of the above problems, an embodiment of the present application provides a lane line grouping method, which can quickly and efficiently group lane lines, especially for intersecting and curved lane lines.

[0045] The technical solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0046] Figure 1 It is a schematic flowchart of the lane line grouping method shown in the embodiment of the present application.

[0047] As Figure 1 shown, an embodiment of the present application provides a lane line grouping method, and it is better that the lane lines therein are intersecting or curved lane lines. The method mainly includes steps S101 to S104.

[0048] Step S101: Based on the lane line contour points in the same frame of image obtained, split the contour of the lane line to obtain a plurality of convex polygons.

[0049] For intersecting or curved lane lines, their contours are irregular. Splitting the lane lines with intersections or curves into multiple parts can make each part of the lane line clearer and more definite, thereby avoiding the confusion and uncertainty brought by the intersecting part or the curved part. Then, step S101 can further include: splitting the concave polygon formed by the contour of the intersecting or curved lane line into a plurality of convex polygons, where each convex polygon represents a different part of the lane line. For actual lane lines, there will be concave parts in the lane line contour, that is, the contour of the lane line can be known from the lane line contour points in the same frame of image obtained, and then the concave polygon formed by the contour of the lane line is split into a plurality of convex polygons, and each convex polygon can represent a different part of the lane line.

[0050] Step S102: Fit the convex polygon into a rectangle, where the long side direction of the rectangle is the same as the driving direction.

[0051] It is determined from step S101 that each convex polygon can represent a different part of the lane line. In step S102, each convex polygon is fitted to obtain a rectangle corresponding to each convex polygon. The rectangle has a length and a width, has four vertices and one center point, and there is also a direction, which is roughly the same as the driving direction, and this direction is used as the long side direction of the rectangle. When each rectangle has a direction, an intuitive direction guidance can be provided for vehicle driving by means of the direction of the rectangle. Then, in autonomous driving, the vehicle can more easily adjust its driving direction according to the direction of the rectangle.

[0052] Step S103: Perform in-frame grouping on all the rectangles obtained by fitting.

[0053] Step S103 therein may further include determining whether the horizontal distance between two rectangles is below a set first distance threshold. If so, the two rectangles are in the same group; otherwise, the two rectangles are each in a separate group.

[0054] In this embodiment, when determining whether the horizontal distance between two rectangles in step S103 is below the set first distance threshold, the horizontal distance can be calculated from the projected distance between the centers of the two rectangles in the short side direction of the rectangle. The first distance threshold L1 is determined based on the horizontal distance between double-lane lines and the horizontal distance between adjacent lane lines in multi-lane lines.

[0055] When the lane lines are double-lane lines, when it is determined that the horizontal distance between two rectangles is below the first distance threshold L1, it can be determined that the lane lines corresponding to these two rectangles are double-lane lines; when it is determined that the horizontal distance between two rectangles exceeds the first distance threshold L1, it indicates that the horizontal distance is relatively large and they belong to different lane lines and cannot be processed in the same group.

[0056] For lane lines with three or more lanes, the horizontal distance between any two adjacent lane lines also satisfies that the horizontal distance between two rectangles is below the set first distance threshold, and thus multiple relevant rectangles can be grouped into one group. Obviously, the priority of the judgment result being "yes" in step S103 is higher.

[0057] Considering that this application ultimately groups the entire lane lines rather than the lane line data in a single-frame image, step S103 may further include sorting the grouped rectangles. In this embodiment, the sorting principle can be to assume that several groups of lane lines in each frame are in front of the vehicle, align the time stamps of multiple frames of images, and then sort the lane lines in each frame of image from left to right. Among them, for two or more rectangles in the same group, they can also be further sorted from left to right based on the habit on the basis of the current group.

[0058] Step S104: Inter-frame merge the same groups in different frames according to the sequence.

[0059] Step S104 therein may further include comparing and merging the same groups of consecutive frames using two-layer loops according to different frames.

[0060] In this embodiment, the acquisition sequence of images is determined according to the timestamps corresponding to different frame images. Taking the merging of two consecutive frames of images as an example, according to the acquisition times of different frames, two-layer loops are used to compare and merge the same groups of the two consecutive frames. Both the first and second consecutive frames include several groups. One group of data is taken out from all the lane line contour point data corresponding to the second frame. Through the outer loop, all the groups in the second frame are traversed. For each group in the second frame, through the inner loop, it is compared with each group in the first frame. After the comparison, a merging operation is performed on the first and second frames, that is, the data of the two groups to be merged are integrated.

[0061] For the convenience of understanding, for example, if the first and second frames are two-dimensional arrays and each element can be regarded as a group, then through two-layer loops, each element in the second frame can be taken out in turn and compared with each element in the first frame. If certain conditions are met, they are merged into a new element.

[0062] Specifically, step S104 may include:

[0063] After determining that there is an overlapping area between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame, it is determined that the horizontal and vertical distances between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame meet the set conditions;

[0064] Wherein, both i and j are positive integers. The horizontal distance between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame is below the set second distance threshold, and the included angle in the long side direction is below the set angle threshold, and the vertical distance is below the set third distance threshold.

[0065] In this embodiment, the merging principle can be that two rectangles with an overlapping area can be merged into one group. Further, it is required that two rectangles with a relatively close horizontal distance and a relatively small included angle close to parallel can be merged into one group. Also, when the vertical distance between two rectangles is far beyond the third distance threshold, they cannot be merged into one group. Only after all the above requirements are met can the merging be carried out, otherwise it cannot be merged. Assume that the rectangle A of the first group in the second frame is compared and merged with the rectangle B of the first group in the first frame. If there is an overlapping area between rectangle A and rectangle B, then continue to judge whether the horizontal distance between rectangle A and rectangle B is close and whether the included angle is small and close to parallel. On the premise that both are met, then consider whether rectangle A and rectangle B are far apart in the vertical direction. Specifically, it can be quantified by the second distance threshold, the angle threshold, and the third distance threshold. The horizontal distance can be calculated by the projected distance of the two rectangle center points in the short side direction of the rectangle, or it can also be understood as the distance between the two rectangles on the straight line where they are located. The vertical distance can be calculated by the projected distance of the two rectangle center points in the long side direction of the two rectangles.

[0066] Specifically, step S104 may further include:

[0067] After obtaining the jth merging group according to the matrix of the ith frame, estimate the rectangle of the jth group in the (i + 1)th frame according to the curvature at the end of the jth merging group, where both i and j are positive integers and i ≥ 2;

[0068] According to the estimated rectangle, determine whether to merge the rectangles of the jth group in the (i + 1)th frame.

[0069] In this embodiment, multiple merging groups can be obtained from step S103. Assuming that after merging the first to fourth frames, 3 merging groups are obtained. Taking the first group among the three merging groups as an example, the curvature of the end curve of this merging group is within a certain range. It can be determined whether the new frame rectangle to be added to this merging group can be merged into this group. Specifically, the estimated rectangle of this merging group at the distance where the new frame rectangle is located is estimated according to the curvature of the end curve of this merging group, and then it can be determined whether the estimated rectangle and the new frame rectangle can be merged. This embodiment can be used as a limiting condition for further determining whether the new frame rectangle can be merged into the merging group, which can improve the quality of merging after grouping, and thus enable a better final grouping effect of the lane lines.

[0070] It can be seen that in the embodiment of the present application, by splitting the concave polygon of the lane line contour corresponding to the lane line contour points in the same frame image to obtain multiple convex polygons, and then fitting the convex polygons into rectangles, splitting the lane lines can clearly define each part of the lane lines. Especially for intersecting or curved lane lines, it can improve the recognition and positioning accuracy of the lane lines. Moreover, after splitting and fitting into rectangles, the long side direction of the rectangle is the same as the driving direction, and the direction and boundary of the lane line can also be accurately determined. Then, all the rectangles obtained by fitting are grouped within the frame, and the same groups are merged between frames according to the time sequence of different frames to obtain the grouped lane line rectangles. In the present application, by means of rectangles for grouping and merging of lane lines, the processing efficiency of lane lines can be improved, and the grouping efficiency can be made higher.

[0071] Corresponding to the foregoing application function implementation method embodiment, the present application also provides a lane line grouping device, an electronic device, and corresponding embodiments.

[0072] Figure 2 It is a schematic structural diagram of the lane line grouping device shown in the embodiment of the present application.

[0073] As Figure 2 shown, the embodiment of the present application provides a lane line grouping device, including:

[0074] A splitting module 201, which is configured to split the contour of the lane line based on the obtained lane line contour points in the same frame image to obtain multiple convex polygons;

[0075] A fitting module 202 configured to fit a convex polygon into a rectangle, wherein the long side direction of the rectangle is the same as the driving direction;

[0076] A grouping module 203 configured to perform intra-frame grouping on all the rectangles obtained by fitting;

[0077] A merging module 204 configured to perform inter-frame merging on the same group of different frames in sequence.

[0078] In some embodiments, the splitting module 201 may be further configured to split a concave polygon formed by the contour of an intersecting or curved lane line into a plurality of convex polygons, wherein each of the convex polygons represents a different part of the lane line.

[0079] In some embodiments, the grouping module 203 may be further configured to determine whether the lateral distance between two of the rectangles is below a set first distance threshold. If so, the two rectangles are in the same group; otherwise, the two rectangles are each in a separate group.

[0080] In some embodiments, the grouping module 203 may also be further configured to sort the grouped rectangles.

[0081] In some embodiments, the merging module 204 may be further configured to compare and merge the same group of consecutive frames according to different frames using two nested loops.

[0082] In at least one embodiment, the merging module 204 may be configured to, after determining that there is an overlapping region between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame, determine that the horizontal and vertical distances between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame satisfy set conditions;

[0083] wherein i and j are both positive integers, the horizontal distance between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame is below a set second distance threshold, the included angle in the long side direction is below a set angle threshold, and the vertical distance is below a set third distance threshold.

[0084] In at least one embodiment, the merging module 204 may also be configured to, after obtaining the j-th merging group according to the matrix of the i-th frame, estimate the rectangle of the j-th group in the (i + 1)-th frame according to the curvature at the end of the j-th merging group, wherein i and j are both positive integers and i ≥ 2;

[0085] Determine whether to merge the rectangle of the j-th group in the (i + 1)-th frame according to the estimated rectangle.

[0086] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0087] Figure 3 It is a schematic structural diagram of an electronic device shown in an embodiment of the present application.

[0088] See Figure 3 , the electronic device 300 includes a memory 301 and a processor 302.

[0089] The processor 302 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0090] The memory 301 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, the ROM may store static data or instructions required by the processor 302 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory may store some or all of the instructions and data required by the processor during operation. In addition, the memory 301 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks may also be used. In some embodiments, the memory 301 may include a removable storage device that is readable and / or writable, such as a compact disc (CD), read-only digital versatile disc (such as DVD-ROM, dual-layer DVD-ROM), read-only Blu-ray disc, ultra density disc, flash memory card (such as SD card, min SD card, Micro-SD card, etc.), magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and instantaneous electronic signals transmitted wirelessly or by wire.

[0091] Executable code is stored on the memory 301, and when the executable code is processed by the processor 302, it can cause the processor 302 to execute some or all of the methods described above.

[0092] In addition, the method according to the present application can also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the above steps of the method according to the present application.

[0093] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium), on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or a server, etc.), it causes the processor to execute some or all of the steps of the method according to the present application.

[0094] The embodiments of the present application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to technologies in the market, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A lane line grouping method, characterized in that, Including: Based on the lane line contour points obtained within the same frame of image, split the concave polygon formed by the contours of intersecting or curved lane lines into multiple convex polygons; wherein each of the convex polygons represents different parts of the lane line; Fit the convex polygons into rectangles, wherein the long side direction of the rectangle is the same as the driving direction; Perform intra-frame grouping on all the rectangles obtained by fitting; the performing intra-frame grouping on all the rectangles obtained by fitting includes: determining whether the horizontal distance between two rectangles in the same frame of image is below a set first distance threshold, if so, the two rectangles are in the same group, otherwise the two rectangles are each in a separate group; Perform inter-frame merging on the same groups of different frames in sequence.

2. The lane line grouping method according to claim 1, wherein, The performing intra-frame grouping on all the rectangles obtained by fitting further includes: Sort the grouped rectangles.

3. The lane line grouping method according to claim 1, wherein The performing inter-frame merging on the same groups of different frames in sequence includes: According to different frames, use two-layer loops to compare and merge the same groups of consecutive frames.

4. The lane line grouping method according to claim 3, characterized in that, The using two-layer loops to compare and merge the same groups of consecutive frames according to different frames includes: After determining that there is an overlapping area between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame, determine that the horizontal and vertical distances between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame meet the set conditions; Wherein, both i and j are positive integers, the horizontal distance between the rectangle of the j-th group in the (i + 1)-th frame and the rectangle of the j-th group in the i-th frame is below a set second distance threshold, and the included angle in the long side direction is below a set angle threshold, and the vertical distance is below a set third distance threshold.

5. The lane line grouping method according to claim 4, wherein, The using two-layer loops to compare and merge the same groups of consecutive frames according to different frames further includes: After obtaining the j-th merged group according to the matrix of the i-th frame, estimate the rectangle of the j-th group in the (i + 1)-th frame based on the curvature at the end of the j-th merged group, wherein both i and j are positive integers and i ≥ 2; Judge whether to merge the rectangle of the j-th group in the (i + 1)-th frame according to the estimated rectangle.

6. A lane line grouping device, characterized in that, Including: A splitting module configured to, based on the lane line contour points obtained within the same frame of image, split the concave polygon formed by the contours of intersecting or curved lane lines into multiple convex polygons; wherein each of the convex polygons represents different parts of the lane line; A fitting module configured to fit the convex polygons into rectangles, wherein the long side direction of the rectangle is the same as the driving direction; A grouping module configured to perform intra-frame grouping on all the rectangles obtained by fitting; the performing intra-frame grouping on all the rectangles obtained by fitting includes: determining whether the horizontal distance between two rectangles in the same frame of image is below a set first distance threshold, if so, the two rectangles are in the same group, otherwise the two rectangles are each in a separate group; A merging module configured to perform inter-frame merging on the same groups of different frames in sequence.

7. An electronic device, characterized in that, Including: A processor; And A memory storing executable code thereon, which when executed by the processor causes the processor to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores executable code which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1 to 5.

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