Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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.

Active Publication Date: 2021-02-05
WUHAN ZHONGHAITING DATA TECH CO LTD
View PDF10 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method and system for extracting parking spaces in underground garages in high-precision map making

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a method and system for extracting parking spaces of underground garages in high-precision map making, comprising the following steps: S1, projecting a 3D laser point cloud including parking spaces into a 2D bird's-eye view mode image; S2, calculating an image contrast estimation index, According to the contrast estimation, different image preprocessing methods are used to obtain a binary image; S3, use the probabilistic Hough transform to detect the straight line segment of the binary image, and calculate the rotation angle of the parking line according to the detected straight line segment; S4, according to the rotation angle and the image The center point is the rotation image of the center of the circle; S5, count the number of pixels of the parking line in each row and column of the rotated image, and obtain the integral projection of the image in the horizontal and vertical directions; S6, search according to the integral projection of the image in the horizontal and vertical directions to obtain parking The coordinates of the four inner corners of the parking space are obtained; S7, the coordinates of the inner corners of the parking space are inversely 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....

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G09B29/00G06V10/28G06V10/44G06V20/13
CPCG09B29/005G09B29/007G01C21/3804G06V20/64G06V20/13G06V20/586G06V10/28G06V10/44G06V2201/12G01C21/3685G08G1/141G08G1/145G06F18/2415
Inventor 李叶伟
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products