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Lane line detection method and device

A detection method, lane line technology, applied in character and pattern recognition, instruments, computer parts, etc.

Pending Publication Date: 2020-10-02
HANGZHOU HIKVISION DIGITAL TECH
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0004] This application provides a lane line detection method and device, which can solve the problem of distinguishing pixels belonging to different lane lines in road images

Method used

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  • Lane line detection method and device
  • Lane line detection method and device
  • Lane line detection method and device

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Embodiment Construction

[0064] In order to make the purpose, technical solution and advantages of the present application clearer, the implementation manners of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0065] figure 1 It is a schematic flowchart of a lane line detection method provided in the embodiment of the present application. The method is applied to a camera for capturing road images, and can also be applied to other electronic devices other than the camera. see figure 1 , the method includes the following steps.

[0066] Step 101: Obtain a road image including at least one lane line.

[0067] Step 102: Determine the semantic segmentation map corresponding to the road image, and the feature vector corresponding to each pixel in the road image.

[0068] Step 103: Based on the semantic segmentation map and the feature vector corresponding to each pixel in the road image, determine the pixel points belonging to each lane...

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Abstract

The invention discloses a lane line detection method and device, and belongs to the technical field of intelligent aided driving. The method comprises the following steps: 1, ; the method comprises the steps of obtaining a road image comprising at least one lane line, determining a semantic segmentation map corresponding to the road image and a feature vector corresponding to each pixel point in the road image, and determining a pixel point belonging to each lane line from the road image based on the semantic segmentation map and the feature vector corresponding to each pixel point in the roadimage. According to the invention, the semantic segmentation map corresponding to the road image is determined to identify the lane line included in the road image. And then, determining a feature vector corresponding to each pixel point in the road image, and determining the pixel point of each lane line in the road image based on the semantic segmentation graph and the feature vector corresponding to each pixel point, thereby realizing the distinguishing of the pixel points belonging to different lane lines in the road image.

Description

technical field [0001] The present application relates to the technical field of intelligent driving assistance, in particular to a method and device for detecting lane lines. Background technique [0002] In the process of intelligent assisted driving of the vehicle, it is necessary to detect the surrounding environment of the vehicle in real time to avoid traffic accidents during the driving process of the vehicle. Especially during the driving process of the vehicle, the lane line is detected in real time, so as to adjust the driving direction of the vehicle in time when the vehicle deviates from the lane line. [0003] A lane line detection method is provided in the related art, specifically: a fully convolutional lane line detection network model obtained through training is used to semantically segment road images to identify lane lines in the road image. However, since semantic segmentation cannot distinguish the same target in the road image, after detecting the lan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/588G06F18/23
Inventor 傅剑文
Owner HANGZHOU HIKVISION DIGITAL TECH
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