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Pavement marking automatic extraction method and device

An automatic extraction and road marking technology, applied in image data processing, 3D modeling, instruments, etc., can solve the problems of high registration requirements between image and point cloud data, and achieve the goal of reducing the amount of computation and the rate of false extraction Effect

Active Publication Date: 2019-10-18
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method also needs to rely on image data, and has high requirements for the registration of image and point cloud data.

Method used

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  • Pavement marking automatic extraction method and device
  • Pavement marking automatic extraction method and device
  • Pavement marking automatic extraction method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] Such as figure 1 As shown, the embodiment of the present invention provides a method for automatically extracting road markings, including the following steps:

[0047] S1, select various road surface point cloud samples, generate corresponding feature vectors according to the three-dimensional information of the road surface point cloud, use the generated feature vectors to train the nonlinear support vector machine, and obtain the classification model;

[0048] S2. Process the point cloud of the road surface to be classified, generate a corresponding feature vector according to the three-dimensional information of the point cloud of the road surface, and classify the point cloud to be classified by using the classification model.

[0049] The embodiment of the present invention utilizes the three-dimensional information of point cloud coordinates, calculates feature vectors according to the three-dimensional information, and classifies the calculated feature vectors in ...

Embodiment 2

[0074] Such as figure 2 As shown, the embodiment of the present invention provides a device for automatically extracting road markings, including:

[0075] The model building module is used to select various types of road surface point cloud samples, generates corresponding feature vectors according to the three-dimensional information of the road surface point clouds, and uses the generated feature vectors to train the nonlinear support vector machine to obtain a classification model;

[0076] The classification extraction module is used to process the point cloud of the road surface to be classified, generate a corresponding feature vector according to the three-dimensional information of the point cloud of the road surface, and use the classification model to classify the point cloud to be classified.

Embodiment 3

[0078] Such as image 3 As shown, the embodiment of the present invention provides a device for automatically extracting road markings, including:

[0079] memory for storing computer software programs;

[0080] The processor is configured to read and execute the computer software program stored in the memory to implement the method for automatically extracting road markings in the first aspect.

[0081] Those skilled in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium, and the program can be executed when executed. , including the following steps: (method steps), the storage medium, such as: ROM / RAM, magnetic disk, optical disk, etc.

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Abstract

The invention relates to a pavement marking automatic extraction method and device, and the method comprises the steps: firstly selecting various types of pavement point cloud samples, generating a corresponding feature vector according to the three-dimensional information of pavement point cloud, carrying out the training of a nonlinear support vector machine through the generated feature vector,and obtaining a classification model; and then processing the to-be-classified road surface point cloud, generating a corresponding feature vector according to the three-dimensional information of the road surface point cloud, and classifying the to-be-classified point cloud by utilizing the classification model. According to the method, the three-dimensional information of the point cloud coordinates is utilized, the feature vectors are calculated according to the three-dimensional information, and the calculated feature vectors are classified by combining a nonlinear support vector machinemethod, so that the error extraction rate of the road surface non-marked line point cloud can be effectively reduced, and the calculation amount is greatly reduced.

Description

technical field [0001] The invention relates to the field of high-precision electronic maps, in particular to a method and device for automatically extracting road markings based on laser point clouds. Background technique [0002] High-precision electronic maps are an integral part of autopilot and advanced assisted driving technologies, and provide the main basis for precise positioning and correct decision-making of autonomous vehicles. The detection of road marking information, including ground elements such as lanes, arrows, diversion strips, and deceleration markings, is one of the core issues in the production of high-precision electronic maps. The accuracy of high-precision maps reaches the centimeter level, which is crucial to ensure the safety of driverless cars. The road surface point cloud data obtained by lidar can meet the accuracy requirements of high-precision maps and is the basis for the production of high-precision electronic map base maps data. [0003]...

Claims

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Application Information

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IPC IPC(8): G06T17/05G06T7/11G06T7/136G06K9/62
CPCG06T17/05G06T7/11G06T7/136G06T2207/10028G06T2207/30256G06F18/23G06F18/2411
Inventor 李框宇郑小辉陈岩周超刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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