Method and system for extracting parking spaces in underground garages in high-precision map making
An underground garage and extraction method technology, applied in the field of high-precision map production, can solve the problems of errors, wrong extraction and missing extraction, light sensitivity, etc., and achieve the effects of satisfying production accuracy requirements, improving consistency, and improving robustness.
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[0043] Such as figure 1 , one A method for extracting a parking space in an underground garage in high-precision map production, comprising the steps of:
[0044] S1, projecting the 3D laser point cloud containing the parking space into a 2D bird's-eye view image I;
[0045] S2. Calculate the image I contrast estimation index, and use different image preprocessing methods to obtain the binarized image I according to the contrast estimation b ;
[0046] S3, using the probability Hough transform to detect the binarized image I b The straight line segment is calculated according to the detected straight line segment to obtain the estimated rotation angle of the parking line;
[0047] S4, according to the rotation angle and binarize the image I b Rotate the binarized image I with the center point as the center of the circle b , get the rotated image I r ;
[0048] S5, statistical rotation image I r Each row and column contains the number of pixels of the parking line, an...
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