Traffic intersection RPP point automatic extraction method and device

Abstract

The invention provides a traffic intersection RPP point automatic extraction method and device. The method comprises the steps: acquiring acquired laser point cloud data, vehicle trajectory data and binocular image data; extracting a bounding box of an intersection lane divergence or convergence area in the binocular image through a target detection algorithm, and marking an image containing the bounding box; performing depth estimation on the binocular image corresponding to the position of the track point, and predicting the depth of the binocular image; constructing a three-dimensional point cloud according to the binocular image corresponding to the position of the track point and the depth of the binocular image, fusing the three-dimensional point cloud and the laser point cloud data,and predicting a region of interest of an RPP point in the fused three-dimensional point cloud; and generating a top view of the point cloud near the RPP point based on the fused three-dimensional point cloud, and extracting the RPP base point from the region of interest of the top view. According to the scheme, automatic extraction of the intersection RPP points can be achieved, manual participation is not needed, the intersection RPP point element extraction efficiency is high, the precision is high, and the high-precision map manufacturing cost can be effectively reduced.

Description

technical field [0001] The invention relates to the field of high-precision map production, in particular to a method and device for automatically extracting RPP points at traffic intersections. Background technique [0002] High-precision maps can provide auxiliary information for automatic driving of vehicles. Compared with ordinary maps, high-precision maps have higher requirements for accuracy. In the process of high-precision map production, the production accuracy of each element is required to be high, and a large amount of original data needs to be extracted. Traffic element RPP (road probable point) points, that is, road change feature points, as an important factor of road intersection changes in high-precision maps, need to be accurately collected. Generally, the extraction process of RPP points at traffic intersections requires manual participation to ensure the accuracy of data extraction. However, this will not only increase the cost of map production, but als...

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present invention provides a method and device for automatically extracting RPP points at traffic intersections to solve the problems of high cost and low efficiency of existing manual extraction methods

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