Automatic extraction method and device for road pedestrian crossing in high-precision map making

A technology of pedestrian crossing and extraction method, which is applied in the field of high-precision electronic map production, can solve the problems of manual production and energy consumption, and achieve the effects of reducing calculation, improving generalization ability, and increasing speed

Active Publication Date: 2020-11-03
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology

Compared with two-dimensional maps, high-precision maps have higher precision and more co

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  • Automatic extraction method and device for road pedestrian crossing in high-precision map making
  • Automatic extraction method and device for road pedestrian crossing in high-precision map making
  • Automatic extraction method and device for road pedestrian crossing in high-precision map making

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Embodiment Construction

[0023] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0024] First, explain some necessary concepts in the invention:

[0025] SSIM (Structural Similarity index, structural similarity) is an index used to measure the similarity of two digital images. When one of them is an undistorted picture and the other is a distorted picture, the SSIM of the two can be regarded as a measure of the quality of the distorted picture.

[0026] Mask diagram: also known as image mask, the concept of mask in digital image processing is based on the process of PCB plate making. In semiconductor manufacturing, many chip process steps use photolithography technology, and the graphic "negatives" used in these steps are called As a mask (also called "mask"), its function is to cover an opaque...

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Abstract

The invention relates to an automatic extraction method and device for a road pedestrian crossing in high-precision map making. The extraction method comprises the following steps: A, extracting a pedestrian crossing in an RGB image collected by a high-precision map; B, obtaining a track point closest to the pedestrian crosswalk in the laser point cloud; C, projecting a three-dimensional laser point cloud area containing the pedestrian crosswalk into a two-dimensional projection image according to the track points, and performing semantic segmentation and extraction on the two-dimensional projection image; D, performing back calculation, duplicate removal, optimization and combination on pedestrian crossing information extracted from the two-dimensional projection image until pedestrian crossing target elements in all three-dimensional laser point clouds in a high-precision map are extracted. According to the automatic extraction method and device for the road pedestrian crosswalk in high-precision map making, manual making is replaced with full automation, the problem of labor consumption cost of high-precision map making is solved, and the urban road element making speed is increased.

Description

technical field [0001] The invention belongs to the field of high-precision electronic map production and the field of high-precision map production urban road element production, and is used for high-precision and fully automatic extraction of pedestrian crossings in laser point cloud urban roads. Background technique [0002] In automatic driving, only sensors such as lidar and cameras are used. Since the exploreable distance has a certain range, it cannot be sensed beyond the range. Once a certain target cannot be detected correctly, it will often cause an accident. If there is a high-precision map to assist, you can get the road conditions in advance and avoid many accidents. Therefore, high-precision maps are one of the most important aids in automatic driving. In the production of high-precision maps, the production of crosswalks on urban roads can allow vehicles to perceive the situation of crosswalks in advance, allowing vehicles to know in advance that there are pe...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/34G09B29/00
CPCG09B29/003G06V20/588G06V10/267Y02T10/40
Inventor 何豪杰肖圣何云刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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