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588 results about "Road edge" patented technology

Method based on monocular vision for detecting and roughly positioning edge of road

The invention discloses a method based on monocular vision for detecting and roughly positioning the edge of a road, and relates to the field of machine vision and intelligent control. Aiming at a continuous road with different edge characteristics, two road edge detection methods are supplied and suitable for semistructured and nonstructured roads and can be applied to vision navigation and intelligent control over a robot. The invention provides a method for detecting the edge of the road based on colors and a method for detecting the edge of the road based on threshold value partitioning. On the basis of the obtained edge of the road, an image is subjected to inverted perspective projection transformation, so that a front view is transformed into a top view; and according to a linear corresponding relation between a pixel and an actual distance in the image, a perpendicular distance from the current position of the robot to the edge of the road and a course angle of the robot can be calculated. The method is easy to implement, high in anti-interference performance, high in instantaneity and suitable for the semistructured and nonstructured roads.
Owner:TSINGHUA UNIV

Road-edge detection

A method is provided for detecting road-side edges in a road segment using a light-based sensing system. Input range data is captured using the light-based sensing system. An elevation-based road segment is generated based on the captured input range data. The elevation-based road segment is processed by filtering techniques to identify the road segment candidate region and by pattern recognition techniques to determine whether the candidate region is a road segment. The input range data is also projected onto the ground plane for further validation. The line representation of the projected points are identified. The line representation of the candidate regions is compared to a simple road / road-edge model in the top-down view to determine whether the candidate region is a road segment with its edges. The proposed method provides fast processing speeds and reliable detection performance for both road and road-side edges simultaneously in the captured range data.
Owner:GM GLOBAL TECH OPERATIONS LLC

Method and apparatus for recognizing shape of road for vehicles

An example of recognition of the shape of a road where a vehicle travels is provided. An object type as to whether an object is a moving or stationary object is determined according to a relative speed of the object and a speed of the vehicle. Object-unit data effective for recognizing a road shape is extracted according to the determination. The object-unit data is used for forming data of a roadside object group, based on which a road edge is recognized. A series of the processes is repeatedly performed at a predetermined cycle. After the extraction process, a data addition process is performed to add object-unit data obtained in the extraction process of the previous cycle to object-unit data obtained in the extraction process of the present cycle. In a recognition process, a road edge is recognized according to the object-unit data obtained in the data addition process.
Owner:DENSO CORP

Road and obstacle detecting method based on remotely piloted vehicles

The invention relates to a road and obstacle detecting method based on remotely piloted vehicles. The method includes adopting a four-wire laser radar as a distance sensor and calculating slope information of roads in a driving area according to the relative position correspondence of pavement data points on different scanning layers; fitting left and right road edges by the COBWEB algorithm and the least square fit improved on the basis of Euclidean distance according to characteristics of road edge data points, enhancing anti-jamming capability, accuracy and stability of road edge detection; applying DST (Dempster-Shafer theory) evidence theory to establish a raster map for the environment ahead of the remotely piloted vehicles, and estimating positions of each raster before integrating prior- and posterior-frame maps. Consequently, the problem of integration of prior and posterior raster cells in the local map is solved. Finally, dynamic faults can be detected by means of conflict coefficient in a driving area, and the dynamical obstacles can be clustered and information thereof can be extracted by the improved eight-neighborhood zone marker algorithm. The road and obstacle detecting method can stably and accurately detect road and obstacle information.
Owner:BEIJING UNIV OF TECH

Urban road marker automatic sorting method based on vehicle-mounted laser scanning point cloud

The invention discloses an urban road marker automatic sorting method based on vehicle-mounted laser scanning point cloud. The method includes: S1) a step of subjecting original point cloud data to road surface segmentation based on wheel path data to obtain road surface point cloud data; S2) a step of subjecting the obtained road surface point cloud data to binarization processing and extracting road marker points; S3) a step of clustering the road marker points and separating independent road marker targets; S4) a step of sorting large road markers and small road markers according to the dimensions of the obtained road marker targets; S5) a step of subjecting the large road markers to sorting processing based on wheel paths and road edge lines; and S6) a step of subjecting the small road markers to sorting processing based on deep learning and principal component analysis. The method rapidly and accurately extracts and sorts urban road markers, largely reduces the time and labor cost for data processing, and effectively guarantees traffic safety and intelligent drive reliability.
Owner:XIAMEN UNIV

Road edge detection method based on laser radar and camera

The invention relates to a road edge detection method based on a laser radar and a camera, and belongs to the field of intelligent traffic. The method comprises the steps: acquiring road edge point cloud data through the laser radar; acquiring road image data through the camera; separately preprocessing the radar data and the camera data, and performing joint calibration; processing each frame ofradar point cloud data, and extracting candidate road edge feature points for each scanning line according to the linear features of a road edge through a method based on a distance; processing each frame of image data, and detecting a lane line in the image through a mature method, and extracting a lane line model; carrying out the fitting of the extracted candidate feature points through the lane line model; determining the distances between the candidate road edge points and a fitting line, correcting the fitting line through the road edge points, and obtaining a road edge detection result.The method can make the most of the advantages of the laser radar and the camera to precisely and stably detect the road edge.
Owner:CHONGQING UNIV OF POSTS & TELECOMM

Road edge detection method based on laser radar scanning

The invention relates to a road edge detection method based on laser radar scanning, which is used for acquiring road edges of a road in a road environment. The method comprises: a three-dimensional coordinate system is established by taking a road surface as the X-Y plane, a projection point of a laser radar on the X-Y plane as the origin, and the direction perpendicular to the road surface as the Z-axis direction; environmental multi-frame laser data is obtained by laser radar scanning for forming point cloud data; the point cloud data comprises a plurality of scan points containing three-dimensional coordinate information; for each frame of laser data, scan points on a scan line are subjected to gradient filtering to obtain road edge candidate points; and the candidate road edge points that meet the conditions are subjected to quadratic curve fitting to obtain a road edge detection result. The road edge detection method is not affected by the weather and light and has a wide range of applications.
Owner:SUTENG INNOVATION TECH CO LTD

Three-dimensional road modeling method and device

The invention discloses a three-dimensional (3D) road modeling method. The method comprises the following steps of: A) acquiring two-dimensional road coordinate data; B) acquiring road edge characteristic points corresponding to the two-dimensional road coordinate data according to the width of the road and the two-dimensional road coordinate data; C) determining a road surface area of the three-dimensional road according to the road edge characteristic points; and D) meshing the road surface area to obtain a three-dimensional road model. By the method, a 3D virtual road model with high simulation degree can be dynamically generated in real time according to two-dimensional map road data, so that the 3D road modeling is greatly accelerated. Thus, the method greatly improves the workability of the map road and the working efficiency of the 3D road modeling.
Owner:BYD CO LTD

Road-edge detection

A method is provided for detecting road-side edges in a road segment using a light-based sensing system. Input range data is captured using the light-based sensing system. An elevation-based road segment is generated based on the captured input range data. The elevation-based road segment is processed by filtering techniques to identify the road segment candidate region and by pattern recognition techniques to determine whether the candidate region is a road segment. The input range data is also projected onto the ground plane for further validation. The line representation of the projected points are identified. The line representation of the candidate regions is compared to a simple road / road-edge model in the top-down view to determine whether the candidate region is a road segment with its edges. The proposed method provides fast processing speeds and reliable detection performance for both road and road-side edges simultaneously in the captured range data.
Owner:GM GLOBAL TECH OPERATIONS LLC

Road detection algorithm of fusion of area and edge information

The present invention discloses a road detection algorithm of fusion of area and edge information. The algorithm comprises: collecting road image, and employing self-adaption median filtering and noise reduction to obtain enhanced images; selecting the R component of the enhanced images in the RGB color space, employing a maximum between-cluster variance (Otsu) method to realize the road area segment of the images to obtain a binary segmentation image, and optimizing the binary segmentation image through adoption of the serial mathematical morphology; detecting the binary segmentation image through adoption of the optimal edge detection Canny detector to detect the binary segmentation image and obtain the road edge detection information, and employing the Otsu method to calculate the dual threshold in the optimal edge detection Canny detector; and employing the binary segmentation image and the road edge detection information to obtain a road border line in the image. The road detection algorithm of fusion of area and edge information employs the image processing technology to detect and extract the road information for the autonomous navigation system of a cable tunnel robot; and moreover, the road detection algorithm of fusion of area and edge information is a self-adaption road border line segmentation fusion method and can obtain a smooth and accurate road edge.
Owner:STATE GRID CHONGQING ELECTRIC POWER CO ELECTRIC POWER RES INST +3

Lane line detection method based on three-dimensional laser radar

ActiveCN109858460ASolve the problem that lane lines cannot be recognizedWide applicabilityCharacter and pattern recognitionPoint cloudRadar
The invention relates to a lane line detection method based on a three-dimensional laser radar, which belongs to the field of intelligent traffic road environment perception, and is used for acquiringlane lines in a road environment. The method comprises the following steps of: establishing a three-dimensional coordinate system by taking the center of the laser radar as an original point, and setting a region of interest; detecting road edges, and extracting road edge candidate points according to geometrical characteristics of the road edges, and removing noise according to characteristics of road edge direction consistency; determining point cloud data of a road surface where the lane line is located according to the road edge position, performing layering processing on the scanning line according to different characteristics of reflection intensities of different media, setting a reflection intensity threshold to extract lane line candidate points, and performing clustering denoising according to characteristics of global continuity of the lane line; and fitting a lane line using a binomial curve. The three-dimensional laser radar sensor is used for detecting the lane line, theproblem that a traditional camera cannot recognize the lane line at night under the condition of poor illumination conditions such as strong light is solved, the detection precision is high, and thereliability is high.
Owner:CHONGQING UNIV OF POSTS & TELECOMM

Obstacle detection and road surface segmentation algorithm based on three-dimensional laser radar

The invention discloses an obstacle detection and road surface segmentation algorithm based on a three-dimensional laser radar, and the algorithm comprises the steps: (1), scanning the surrounding environment through the three-dimensional laser radar to obtain the point cloud information of the surrounding environment, and transforming the point cloud information to a local right-angle coordinatesystem from the coordinate system of the laser radar; (2), extracting an interest data point of the three-dimensional laser radar; (3), extracting a laser radar scanning single line through a radar detection angle clustering method; (4), segmenting the laser radar scanning single line through neighborhood fuzzy clustering based on AIC criterion; (5), accurately locating a road edge and a road surface line end point through corner detection. Compared with the prior art, the method can achieve the real-time and effective extraction of a passable region of a road surface, is high in precision andreliability, is small in judgment error in a recognition process, and can be widely used for an actual occasion of the extraction of the passable region of a structured road based on the three-dimensional laser radar.
Owner:WUHAN UNIV OF TECH

Automatic driving system applied to road sweeping vehicle and control method and device thereof

The invention discloses an automatic driving system applied to a road sweeping vehicle and a control method and device thereof, which belongs to the technical field of automatic driving. The system comprises a positioning module, a number of radars, a visual acquisition and analysis module, a control module and an underlying execution module. A lidar detects obstacles in front of the driving vehicle and on both sides of the front of the driving vehicle and detects road edges on both sides of the front of the driving vehicle. An ultrasonic radar detects obstacles on both sides of the vehicle. Amillimeter wave radar detects the type of obstacles in front of the driving vehicle, behind the driving vehicle and on both sides behind the driving vehicle, calculates the distance and relative speed between a dynamic obstacle and the vehicle. The visual acquisition and analysis module detects a travelable area in front of the driving vehicle, a road stop line in front of the driving vehicle, obstacles and traffic lights in front of the driving vehicle, and the distance between the front wheels of the vehicle and lane lines on both sides of a driving lane. The control module determines the driving road and driving policy of the vehicle based on detection information. The vehicle is controlled to drive on the driving road according to the driving policy.
Owner:CHERY AUTOMOBILE CO LTD

Universal road and lane detection system and method

ActiveCN105825173AThe solution function is not perfectCharacter and pattern recognitionPattern recognitionInterference elimination
The invention relates to a universal road and lane detection system and method. The method comprises: S300, interference elimination and image artifact and irrelevant image part removing are carried out on an input image to obtain a relevant image; S302, lane edge feature or road edge feature is extracted from the relevant image; S304, according to the lane edge feature or road edge feature, fitting is carried out to obtain a synthesized path expression model; S306, the path expression model is tracked to carry out time sequence consistency integration or position consistency integration; and S308, the path expression model corresponds to a global coordinate system. On the basis of the module design, pretreatment is carried out on the image inputted by the camera, the interested relevant image is selected; lane detection or road detection is carried out by combining input information of the laser radar; model fitting is carried out to estimate a road path and the accuracy of path estimation is improved by using the time sequence integration module; and then the image corresponds to the global coordinate system in real time by using a coordinate system correspondence module to improving path estimation accuracy. Therefore, a problem that the existing road estimation model has imperfect functions can be solved.
Owner:FUZHOU HUAYING HEAVY IND MACHINERY

Road edge detection system and method based on laser radar and fan-shaped space segmentation

The invention relates to a road edge detection system and method based on laser radar and fan-shaped space segmentation. The method comprises the steps of 1, a laser radar scanning the surrounding environment of a vehicle to obtain reflection point cloud information and convert the reflection point cloud information into a locally constructed three-dimensional coordinate system; 2, preprocessing the point cloud data, and separating and extracting ground data in each frame of point cloud; 3, dividing the space in the coordinate system into fan-shaped structural bodies according to the data characteristics of the laser radar and the point cloud, and identifying the road extension direction according to the ground information and the fan-shaped structural bodies; 4, extracting road edge candidate points in the point cloud by using a parallel road edge retrieval algorithm; 5, clustering the road edge candidate points, and eliminating an interference point set according to fan-shaped spatial features; and 6, performing B spline curve fitting on the finally determined road edge point to obtain a road edge detection result. The method is high in adaptability, capable of adapting to roadsof various shapes and reducing the influence of obstacles, high in precision and reduction degree, high in reliability and low in error rate.
Owner:SUN YAT SEN UNIV

Method for preparing building material by using phosphogypsum

The invention relates to a method for preparing a building material by using phosphogypsum. The method comprises the steps of firstly, preparing a dry blend by using the phosphogypsum, aluminosilicate industrial residues, a calcium cementing material and aggregate, then adding water or water with a dissolved activator to obtain a wet mixture, standing, carrying out static pressure molding, and finally, carrying out natural or steam curing to obtain an ultrahigh strength material. The method solves the problems that the phosphogypsum has more impurities and is difficult to utilize, and can be used for preparing the ultrahigh strength building material with high compressive strength by enabling the phosphogypsum to be coupled with a great deal of aluminosilicate industrial residues. The ultrahigh strength building material can be used for preparing various high-strength and high-durability products such as high strength building bricks, high strength road bricks, high strength water permeable bricks, road edge stones and various decorative boards by changing a molding mould, and overcomes the defects that gypsum products are low in strength and poor in water resistance and durability. The method realizes functionalization, greenization and high value while consuming a great deal of phosphogypsum and aluminosilicate industrial residues, thus having good economic benefit and social benefit.
Owner:韩涛

Detection and classification systems and methods for autonomous vehicle navigation

The present disclosure relates to systems and methods for road edge detection and mapping, for vehicle wheel identification and navigation based thereon, and for classification of objects as moving or non-moving. Such systems and methods may include the use of trained systems, such as one or more neural networks. Further, autonomous vehicle systems may incorporate aspects of one or more of the disclosed systems and methods.
Owner:MOBILEYE VISION TECH LTD

Stereoscopic vision based auxiliary walking device for blindmen and auxiliary method thereof

The invention discloses a stereoscopic vision based auxiliary walking device for blindmen and an auxiliary method thereof. The device comprises a binocular camera, a central processing module and a voice output module, wherein a left eye camera and a right eye camera of the binocular camera are connected with the central processing module, the central processing module has image processing software mainly used for barrier processing, traffic light processing and off-rod processing, and the output end of the central processing module is connected with the voice output module. When in use, the stereoscopic vision based auxiliary walking device for blindmen is worn on the head of a blindman, and after the stereoscopic vision based auxiliary walking device for blindmen is started up, the binocular camera is used for shooting images, the central processing module is used for carrying out road edge detection, barrier processing, traffic light process and off-road processing, the voice output module gives voice prompt according to processing results so as to help the blindman walk indoors and outdoors without barriers and pass rod junctions safely.
Owner:UNIV OF SHANGHAI FOR SCI & TECH

Connection curve algorithm for constructing intersection entry and exit lane Links based on Bezier curve

The invention discloses a connection curve algorithm for constructing intersection entry and exit lane Links based on a Bezier curve. It can be ensured that the curve is tangent to the entry lane Link and the exit lane Link through characteristics of the Bezier curve, meanwhile, the through region of the curve can be safely controlled by means of the position of a middle control point, the phenomena of passing through an intersection safety island and a road edge are avoided, and the generated curve fits a safe wheelpath line. Accordingly, the safe wheelpath reference line can be provided for an unmanned car when the car passes through the intersection. According to characteristics of the Bezier curve, the algorithm for connecting wheelpath curves of the intersection entry and exit lane Links is built, the algorithm meets the fitness and safety demand of the actual wheelpaths, the algorithm is unified and convenient to obtain, and the algorithm can be used for different moving direction connecting relations.
Owner:WUHAN ZHONGHAITING DATA TECH CO LTD

Method and device for road edge recognition based on mobile platform

The invention discloses a method and a device for road edge recognition based on a mobile platform. The method comprises the following steps: using a camera module to acquire real-time pictorial information of a road; using the mobile platform to process the real-time pictorial information acquired by the camera module; converting a YUV spatial image into an RGB spatial image; converting the acquired RGB spatial image into an HSV spatial image; performing binaryzation process for the HSV spatial image; converting the acquired RGB spatial image into a grayscale image and performing edge and line detection; performing further screening for the detected lines according to the acquired zone in which the road edge is located; selecting the longest line in the road edge zone as a road edge. The method and the device solve the problems that the algorithm of the conventional road edge recognition system takes up a huge memory, is poor in real-time property, and is susceptible to interference from the outer environment, and most algorithms are only suitable for detecting ideal roads with clear edges.
Owner:ZHEJIANG UNIV

Road edge detection method, device and vehicle

The invention discloses a road edge detection method comprising obtaining an image frame including road edge information of a current road where a vehicle drives, performing edge detection on the image frame to obtain a plurality of edge points, utilizing the plurality of edge points to extract a plurality of linear line sections, and extracting the road edge line sections from the plurality of linear line sections based on the road edge structure features of the current road. The invention also discloses a road edge detection device and vehicle. Through the above method, the road edge line sections of the current road where the vehicle drives can be automatically detected, operation complexity for a machine operator is reduced and the detection precision is high.
Owner:ZOOMLION HEAVY IND CO LTD

Three-dimensional laser radar-based structured road passable region extraction method

The invention discloses a three-dimensional laser radar-based structured road passable region extraction method. The method includes the following steps that: 1) a three-dimensional laser radar scansa surrounding environment so as to acquire the point cloud information of the surrounding environment, and the point cloud information is transformed from the coordinate system of the laser radar to alocal rectangular coordinate system; 2) the interest data points of the three-dimensional laser radar are extracted; 3) a radar detection angle clustering method is used to extract laser radar scanning single lines; 4) a K-means clustering algorithm is used to obtain an optimal clustering point set; 5) obstacles are extracted by using altitude features; 6) road edges are extracted on the basis ofa DBSCAN method; and 7) polynomial curve fitting is performed on a passable road surface according to the least squares method. With the method of the invention adopted, the passable road surface canbe effectively extracted. The method has the advantages of high precision, high reliability and small judgment error rate in an identification process, and can be widely used in three-dimensional laser radar-based structured road passable region extraction practical situations.
Owner:WUHAN UNIV OF TECH

A high-precision semantic mapping method for driverless automobiles

The embodiment of the invention discloses a high-precision semantic mapping method for a driverless automobile. The driverless automobile is equipped with a laser radar device. The making method comprises the following steps: 1, collecting sensor data by utilizing a laser radar 2, sequentially calibrating, fusing and splice that collected data to generate ground point cloud data; 3, draw that track data of the vehicle traveling along the road and the vector data contain the road information in the point cloud data, and editing field attributes for the drawn data; Step 4: Export a high-precision semantic map in the specified format. The high-precision semantic map produced by the embodiment of the invention contains rich semantic information, such as lane lines, road edges and trajectories,provide lane-level road information compared with traditional vector maps, which provides data basis for local path planning of driverless vehicles, and further helps to ensure the safety of driverless vehicles.
Owner:张亮

Burning-and-steam-curing-free alkaline slag brick and preparation method thereof

The invention discloses a burning-and-steam-curing-free alkaline slag brick. The burning-and-steam-curing-free alkaline slag brick is prepared from the following raw materials in part by weight or volume: 20 to 200 parts of alkaline slag or vulcanized alkaline slag, 0 to 200 parts of magnesium slag, 0 to 200 parts of fly ash, 0 to 200 parts of coal cinder, 0 to 200 parts of tailing sand, 0 to 200 parts of limestone powder, 0 to 200 parts of coarse aggregate, 0 to 200 parts of oil shale waste, 0 to 200 parts of activated coagulation aiding material, 0 to 200 parts of waste sand, 2 to 20 parts of cement, and a proper amount of water. The raw materials are stirred and then are fed into a block making machine for vibration compression molding, and a finished product is obtained through natural curing or solar warming-up curing for 7 to 28 days. The burning-and-steam-curing-free solid bricks, perforated bricks, hollow blocks, floor tiles, road edge bricks, grass planting bricks, slope protection bricks and fence railings of different specifications can be produced by replacing different mold machines. Industrial waste slag is utilized to turn harm into good, material selection is flexible, the process is simple and convenient, the cost is low, the strength of the product is high, and the burning-and-steam-curing-free alkaline slag brick has excellent development and application prospects.
Owner:司密花 +2

Method and apparatus for recognizing road shape

A method and an apparatus are provided to recognize a shape of a road on which a vehicle is traveling. Road edge shapes on a left side and a right side of the vehicle are recognized, from positions of roadside objects detected based on detection information from an on-board radar. Lane shapes that are shapes of lane boundary lines on the left side and the right side of the vehicle are recognized, from positions of lane boundary lines detected based on an image captured by an on-board camera. For each of the left side and the right side, such that the recognized road edge shape and the recognized lane shape are compared with each other, and the road shape is identified based on the comparison results.
Owner:DENSO CORP

Method and system for detecting and tracking vehicle based on machine vision technology

The invention discloses a method for detecting and tracking a vehicle based on the machine vision technology. The method comprises the step of detecting a structuralized road, wherein a picture is preprocessed, the edges of the picture are enhanced and are mediated in a linear mode, the edges of the road are extracted, and the road region is determined; the step of detecting the moving vehicle, wherein the vehicle in the determined road region is initially recognized, the region of interest is further diminished, and whether a vehicle to be detected exists in the determined road region or not is recognized for the second time; the step of tracking the moving vehicle, wherein the accurate position of the target vehicle is determined through repeated iteration tracking based on the mean value drifting algorithm. The invention further discloses a system for detecting and tracking the vehicle based on the machine vision technology. The vehicle can be distinguished more effectively based on the maximum variance threshold value extraction method, the vehicle can be detected more accurately based on the fusion character algorithm, the region of interest is determined, the secondary shrunk ROI region is detected through an adaboost classifier, the operand is greatly reduced, the real-time performance is improved, and meanwhile the accuracy that the system detects the vehicle is improved.
Owner:HOHAI UNIV

Level set method for edge detection of SAR images of airport roads

The invention discloses a level set based method for edge detection of SAR images, which mainly overcomes the defect that the existing methods for edge detection of SAR images can not well suppress the impacts of speckle noises. The method comprises the following steps: (1) inputting the SAR images and carrying out median filtering and brightness transform in sequence to obtain the enhanced images; (2) manually selecting initialized seed points on the enhanced images and beginning area growth; (3) carrying out morphological close operation and removal operation on the area growth result in sequence to obtain the edge profile of the smoothened destination area; (4) obtaining a level set evolved initialized zero level set according to the edge profile of the destination area, which is obtained through area growth; and (5) carrying out level set evolution until the preset iterative evolution frequency is met to obtain the final edge profile of the destination area. The method can effectively overcome the impacts of speckle noises of the SAR images on edge detection, is accurate in edge detection and can be used for edge detection of the SAR images of airport runways and roads.
Owner:XIDIAN UNIV
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