Method and system for extracting parking space of underground garage in high-precision map making

Abstract

The invention relates to a method and a system for extracting parking space of underground garage in high-precision map making. The method includes: S1, projecting 3D laser point cloud containing parking space to 2D bird's-eye mode image, projecting 3D lase point cloud containing parking space to 2D bird's-eye mode image, projecting 3D laser point cloud to 2D bird's-eye mode image, projecting 3D laser point cloud containing parking space to 2D bird's-eye mode image, projecting 3D laser point cloud to 2D bird's-eye mode image. S2, calculating an image contrast estimation index, and obtaining abinary image by using different image preprocessing methods according to the contrast estimation; 3, detect a straight line segment of a binary image by using a probabilistic Hough transform, and calculate a rotation angle estimation of a parking line according to that detected straight line segment; 4, rotate that image according to the rotation angle and take the center point of the image as thecenter of the circle; 5, count that number of pixel of each row and column of the rotated image including the parking line to obtain the integral projection of the image in the horizontal and vertical method; S6, searching four inner corner coordinates of the parking space according to the integral projection of the image in the horizontal and vertical directions; 7, that coordinate of the cornerpoint in the parking space is inverse transformed to the point cloud data, thereby extracting the parking space.

Description

technical field [0001] The invention relates to the technical field of high-precision map production, in particular to a method and system for extracting parking spaces in underground garages in high-precision map production. Background technique [0002] High-precision maps are one of the core technologies of unmanned driving. Accurate maps are crucial to the positioning, navigation, control, and safety of unmanned vehicles. How to generate high-precision maps is also an urgent problem in the field of unmanned driving. The underground garage parking space refers to the area built underground and available for long-term or long-term or temporary parking of motor vehicles. The parking area is divided by the parking line according to a certain size. The underground parking lot cooperates with different levels of urban roads to meet the parking needs of different scales, and plays a very important role in regulating and controlling the traffic in the central area of ​​the city....

AI Technical Summary

Problems solved by technology

[0004] However, this method is sensitive to illumination. Under different illumination conditions, the gradient of the parking space in the image varies greatly, which may easily lead to wrong extraction and missing extraction.

At the same time, due to the noise in the edge points obtained by the edge detection method in practical applications, not all of them are the edges of the parking line, the single use of Hough transform and straight line extraction is likely to cause errors, resulting in low extraction accuracy, which cannot meet the requirements of high-precision maps. Accuracy requirements

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