CN110060266A - Lane line extracting method and device, server and computer-readable medium - Google Patents
Lane line extracting method and device, server and computer-readable medium Download PDFInfo
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- CN110060266A CN110060266A CN201910335040.4A CN201910335040A CN110060266A CN 110060266 A CN110060266 A CN 110060266A CN 201910335040 A CN201910335040 A CN 201910335040A CN 110060266 A CN110060266 A CN 110060266A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
Present disclose provides a kind of lane line extracting method, lane line is guiding region outer boundary lane line, this method comprises: guiding region principal direction straight line and multiple measurement straight lines are arranged in the point cloud floor projection figure of guiding region；Calculate the vertical range in guiding region point cloud between each point and each measurement straight line；Point of the perpendicular distance less than pre-determined distance is filtered out as the pre- reconnaissance with the measurement line correspondences for each measurement straight line, and the pre- reconnaissance of whole of corresponding each measurement straight line forms the pre-selection point set of the corresponding measurement straight line；From the maximum two pre- reconnaissances of distance filtered out in pre-selection point set on the direction of corresponding measurement straight line as endpoint corresponding with the pre-selection point set, all preselects the corresponding endpoint of point set and form guiding region outer boundary Extreme points set；Guiding region outer boundary lane line is extracted according to guiding region lane line outer boundary Extreme points set.The disclosure additionally provides a kind of lane line extraction element, server and computer-readable medium.
Description
Technical field
This disclosure relates to field of computer technology, and in particular, to lane line extracting method and device, server and calculating
Machine readable medium.
Background technique
Guiding region is an important scenes of urban road and highway, accurately and effectively identifies and extracts guiding region
Outer boundary lane line is the important link for making high-precision map.Existing high-precision cartography process is based on high-precision picture more and realizes
Guiding region outer boundary Lane detection and extraction specifically carry out image, semantic segmentation to acquired high-precision picture and in height
Guiding region outer boundary is identified on smart picture, by the projection relation in cloud space and high-precision picture, the guiding region that will identify that
Then outer boundary back projection extracts guiding region outer boundary lane line to point cloud space in cloud space.But put cloud space with
The projection relation (such as projection matrix Projection Matrix) of picture space is affected to back projection's process, if projection
Relationship inaccuracy will lead to the extracted inclination of guiding region outer boundary lane line or offset.
It should be noted that the above description of the technical background be intended merely to it is convenient to the technical solution of the disclosure carry out it is clear,
Complete explanation, and facilitate the understanding of those skilled in the art and illustrate.Cannot merely because these schemes in the disclosure
Background technology part is expounded and thinks that above-mentioned technical proposal is known to those skilled in the art.
Summary of the invention
The embodiment of the present disclosure proposes a kind of lane line extracting method and device, server and computer-readable medium.
In a first aspect, the embodiment of the present disclosure provides a kind of lane line extracting method, the lane line is outside guiding region
Boundary's lane line, the lane line extracting method include:
Guiding region principal direction straight line and multiple measurement straight lines, each measurement are set in the point cloud floor projection figure of guiding region
Straight line is each perpendicular to the guiding region principal direction straight line, and the guiding region principal direction is the main side of road where the guiding region
To；
Calculate the vertical range in guiding region point cloud between each point and each measurement straight line；
For it is each measurement straight line filter out perpendicular distance less than pre-determined distance point as with the measurement straight line pair
The pre- reconnaissance of whole of the pre- reconnaissance answered, corresponding each measurement straight line forms the pre-selection point set of the corresponding measurement straight line；
The maximum two pre- reconnaissances of distance on the corresponding direction for measuring straight line are filtered out from the pre-selection point set
As endpoint corresponding with the pre-selection point set, all preselects the corresponding endpoint of point set and form guiding region outer boundary end point set
It closes；
Guiding region outer boundary lane line is extracted according to the guiding region lane line outer boundary Extreme points set.
In some embodiments, before the step of guiding region principal direction straight line and multiple measurement straight lines are set further include:
Guiding region point cloud corresponding with guiding region is generated, the outer boundary of the guiding region is V-shaped, in the guiding region point cloud
Point all have three-dimensional coordinate；
Guiding region point cloud floor projection figure corresponding with the guiding region point cloud is generated, it is every in the guiding region point cloud
A point has subpoint on the guiding region point cloud floor projection figure, and the subpoint has two-dimensional coordinate.
In some embodiments, each endpoint is the first side point or second side endpoint, the first side point subpoint
The two sides of guiding region principal direction straight line, the quantity of the first side point and second side endpoint are located at second side endpoint subpoint
Difference is less than or equal to preset quantity threshold value；
After the step of filtering out endpoint, and before the step of extracting guiding region outer boundary lane line further include:
Coordinate system, which is established, as the longitudinal axis using the guiding region principal direction straight line and chooses the maximum endpoint subpoint of ordinate makees
On the basis of point；
Calculate the distance value between each endpoint subpoint and the datum mark；
All the first side point subpoints are ranked up respectively according to the distance value, whole second side endpoints are projected
Point is ranked up；
In addition to two second side endpoint subpoints of two the first side point subpoints of head and the tail and head and the tail, each first side is sought
Angle value between endpoint subpoint two the first side point subpoint lines adjacent thereto seeks each second side endpoint projection
Angle value between point two second side endpoint subpoint lines adjacent thereto；
When judging that the angle value is greater than or equal to default angle value, from guiding region lane line outer boundary Extreme points set
It is middle to delete endpoint corresponding with the endpoint subpoint.
In some embodiments, the angle value between endpoint subpoint two endpoint subpoint lines adjacent thereto is sought
Step includes:
Pass through formulaCalculate angle value, wherein θ indicates endpoint projection
Angle value between two endpoint subpoint i and endpoint subpoint k line point j adjacent thereto,Indicate endpoint subpoint j
Coordinate,Indicate the coordinate of endpoint subpoint i,Indicate the coordinate of endpoint subpoint k.
In some embodiments, guiding region outer boundary lane line is extracted according to guiding region lane line outer boundary Extreme points set
The step of include:
It is modeled based on the guiding region lane line outer boundary endpoint in the guiding region lane line outer boundary Extreme points set to mention
Take out guiding region outer boundary lane line.
Second aspect, the embodiment of the present disclosure provide a kind of lane line extraction element, and the lane line is outside guiding region
Boundary's lane line, the lane line extraction element include:
Setup module, for guiding region principal direction straight line and multiple measurements to be arranged in the point cloud floor projection figure of guiding region
Straight line, each measurement straight line are each perpendicular to the guiding region principal direction straight line, and the guiding region principal direction is the guiding region institute
In the principal direction of road；
Computing module, for calculating the vertical range in the point cloud of guiding region between each point and each measurement straight line；
Screening module, for for it is each measurement straight line filter out perpendicular distance less than pre-determined distance point as with
The pre- reconnaissance of whole of the pre- reconnaissance of the measurement line correspondences, corresponding each measurement straight line forms the pre- reconnaissance of the corresponding measurement straight line
Set；Maximum two pre- reconnaissance conducts of distance on the corresponding direction for measuring straight line are filtered out from the pre-selection point set
Endpoint corresponding with the pre-selection point set all preselects the corresponding endpoint of point set and forms guiding region outer boundary Extreme points set；
Extraction module, for extracting guiding region outer boundary lane according to the guiding region lane line outer boundary Extreme points set
Line.
In some embodiments, further includes:
First generation module, for generating guiding region point cloud corresponding with guiding region, the outer boundary of the guiding region is in V
Shape, the point in the guiding region point cloud all have three-dimensional coordinate；
Second generation module, for generating guiding region point cloud floor projection figure corresponding with the guiding region point cloud, institute
State each point in the point cloud of guiding region has subpoint, the subpoint tool on the guiding region point cloud floor projection figure
There is two-dimensional coordinate.
In some embodiments, each endpoint is the first side point or second side endpoint, the first side point subpoint
The two sides of guiding region principal direction straight line, the quantity of the first side point and second side endpoint are located at second side endpoint subpoint
Difference is less than or equal to preset quantity threshold value；
The lane line extraction element further includes endpoint screening module, and the endpoint screening module includes:
It establishes and chooses submodule, for establishing coordinate system as the longitudinal axis using the guiding region principal direction straight line and choosing ordinate
Maximum endpoint subpoint is as datum mark；
Computational submodule, for calculating the distance value between each endpoint subpoint and the datum mark；
Sorting sub-module, for being respectively ranked up, all the first side point subpoints to complete according to the distance value
Portion's second side endpoint subpoint is ranked up；
Submodule is sought, for except two second side endpoint subpoints of two the first side point subpoints of head and the tail and head and the tail
Outside, it seeks the angle value between each first side point subpoint two the first side point subpoint lines adjacent thereto, seek
Angle value between each second side endpoint subpoint two second side endpoint subpoint lines adjacent thereto；
Judging submodule, for judging whether the angle value is greater than or equal to default angle value；
Submodule is deleted, for when judging that the angle value is greater than or equal to default angle value, from guiding region lane
Endpoint corresponding with the endpoint subpoint is deleted in line outer boundary Extreme points set.
In some embodiments, the submodule of seeking is for passing through formulaCalculate angle value, wherein θ indicates adjacent thereto two of endpoint subpoint j
Angle value between a endpoint subpoint i and endpoint subpoint k line,Indicate the coordinate of endpoint subpoint j,It indicates
The coordinate of endpoint subpoint i,Indicate the coordinate of endpoint subpoint k.
In some embodiments, the extraction module is used for based in the guiding region lane line outer boundary Extreme points set
Guiding region lane line outer boundary endpoint is modeled to extract guiding region outer boundary lane line.
The third aspect, the embodiment of the present disclosure provide a kind of server, comprising:
One or more processors；
Storage device is stored thereon with one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of places
It manages device and realizes lane line extracting method as described above.
Fourth aspect, the embodiment of the present disclosure provide a kind of computer-readable medium, are stored thereon with computer program,
In, described program, which is performed, realizes lane line extracting method as described above.
The lane line extracting method that the embodiment of the present disclosure provides, is arranged guiding region in the point cloud floor projection figure of guiding region
Principal direction straight line and multiple measurement straight lines calculate the vertical range in guiding region point cloud between each point and each measurement straight line,
Point of the perpendicular distance less than pre-determined distance is filtered out as the pre-selection with the measurement line correspondences for each measurement straight line
The pre- reconnaissance of whole of point, corresponding each measurement straight line forms the pre-selection point set of the corresponding measurement straight line, from pre-selection point set
The maximum two pre- reconnaissances of distance on the direction of corresponding measurement straight line are filtered out as end corresponding with the pre-selection point set
Point all preselects the corresponding endpoint of point set and forms guiding region outer boundary Extreme points set, according to guiding region lane line outer boundary end
Point set extracts guiding region outer boundary lane line.It can filter out multiple guiding region outer boundaries lane from the point cloud of guiding region
Line endpoints, the subpoint of guiding region outer boundary lane line endpoints are respectively positioned on the outer boundary of guiding region point cloud floor projection figure,
The guiding region lane line accuracy with higher extracted based on multiple guiding region outer boundary lane line endpoints and inclination
Degree and drift rate are lower.
Detailed description of the invention
Attached drawing is used to provide to further understand embodiment of the disclosure, and constitutes part of specification, with this
Disclosed embodiment is used to explain the disclosure together, does not constitute the limitation to the disclosure.By reference to attached drawing to detailed example
Embodiment is described, and the above and other feature and advantage will become apparent those skilled in the art, in attached drawing
In:
Fig. 1 is a kind of flow diagram for lane line extracting method that the embodiment of the present disclosure provides；
Fig. 2 is the flow diagram for another lane line extracting method that the embodiment of the present disclosure provides；
Fig. 3 a and Fig. 3 b are a kind of guiding region point cloud floor projection figure exemplary diagram provided in this embodiment；
Fig. 4 is a kind of flow diagram for guiding region outer boundary endpoint screening step that the embodiment of the present disclosure provides；
Fig. 5 a-5c is a kind of exemplary diagram of guiding region outer boundary endpoint screening step provided in this embodiment；
Fig. 6 is a kind of structural schematic diagram for lane line extraction element that the disclosure provides；
Fig. 7 is the structural schematic diagram for another lane line extraction element that the disclosure provides；
Fig. 8 is the structural schematic diagram for another lane line extraction element that the disclosure provides.
Specific embodiment
To make those skilled in the art more fully understand the technical solution of the disclosure, the disclosure is mentioned with reference to the accompanying drawing
The lane line extracting method and device of confession, server and computer-readable medium are described in detail.
Example embodiment will hereinafter be described more fully hereinafter with reference to the accompanying drawings, but the example embodiment can be with difference
Form embodies and should not be construed as being limited to embodiment set forth herein.Conversely, the purpose for providing these embodiments is
It is thoroughly and complete to make the disclosure, and those skilled in the art will be made to fully understand the scope of the present disclosure.
Term as used herein is only used for description specific embodiment, and is not intended to limit the disclosure.As used herein
, "one" is also intended to "the" including plural form singular, unless in addition context is expressly noted that.It will also be appreciated that
Be, when in this specification use term " includes " and/or " by ... be made " when, specify there are the feature, entirety, step,
Operation, element and/or component, but do not preclude the presence or addition of other one or more features, entirety, step, operation, element,
Component and/or its group.
Unless otherwise defined, the otherwise meaning of all terms (including technical and scientific term) used herein and this field
The normally understood meaning of those of ordinary skill is identical.It will also be understood that such as those those of limit term in common dictionary and answer
When being interpreted as having and its consistent meaning of meaning under the background of the relevant technologies and the disclosure, and will be not interpreted as having
There are idealization or excessively formal meaning, unless clear herein so limit.
Fig. 1 is a kind of flow diagram for lane line extracting method that the embodiment of the present disclosure provides, which is preferably
Guiding region outer boundary lane line, this method can be executed by lane line extraction element, which can be by software and/or hard
The mode of part realizes that the device can integrate in the server.As shown in Figure 1, this method specifically includes:
Step S1, guiding region principal direction straight line and multiple measurement straight lines are set in the point cloud floor projection figure of guiding region.
Optionally, Fig. 2 is the flow diagram for another lane line extracting method that the embodiment of the present disclosure provides, such as Fig. 2
It is shown, before executing step S1 further include:
Step S01, generation guiding region point cloud corresponding with guiding region.
Region set by the landform of road where it according to guiding region, outer boundary is V-shaped, guiding region point cloud { P }
In include multiple points, the point in guiding region point cloud { P } all has three-dimensional coordinate.
Wherein, point cloud in guiding region is the set by measuring the surface point data of obtained expression guiding region appearance, such as:
Guiding region point cloud is generated by way of laser scanning, each point in the point cloud of guiding region also has corresponding laser reflection strong
Degree.
Step S02, generation guiding region point cloud floor projection figure corresponding with guiding region point cloud.
Guiding region point cloud floor projection figure is throwing of the guiding region point cloud { P } in horizontal plane (plane as where ground)
Shadow figure, each point in guiding region point cloud { P } have subpoint, subpoint on the guiding region point cloud floor projection figure
With two-dimensional coordinate.
Each measurement straight line is each perpendicular to guiding region principal direction straight line, and guiding region principal direction is the master of road where guiding region
Direction (i.e. the Main way of road entirety).Set measurement straight line is more, and outer boundary endpoint in guiding region obtained is more,
The guiding region outer boundary lane line finally extracted is more accurate.
Fig. 3 a and Fig. 3 b are a kind of guiding region point cloud floor projection figure exemplary diagram provided in this embodiment, such as Fig. 3 a institute
Show, the region shape of the shape of the guiding region point cloud floor projection figure and guiding region corresponding with guiding region point cloud is identical or phase
Closely, straight line step c is measuredk、step cjWith step ciIt is each perpendicular to guiding region principal direction straight line p '.
Step S2, the vertical range in guiding region point cloud between each point and each measurement straight line is calculated.
As shown in Figure 3a, each point and measurement straight line step c in guiding region point cloud { P } are calculatedk、step cjWith step ci
Between vertical range.
Step S3, for it is each measurement straight line filter out perpendicular distance less than pre-determined distance point as with the measurement
The pre- reconnaissance of whole of the pre- reconnaissance of line correspondences, corresponding each measurement straight line forms the pre-selection point set of the corresponding measurement straight line.
Pre-determined distance can be configured according to actual scene.Hanging down between some measurement straight line in guiding region point cloud { P }
Straight distance (i.e. the shortest distance at space midpoint to straight line) is less than multiple points of pre-determined distance, and corresponding multiple subpoints are approximate
Along the measurement lineal layout.
Step S4, from maximum two pre-selections of distance filtered out in pre-selection point set on the direction of corresponding measurement straight line
Point all preselects the corresponding endpoint of point set and forms guiding region outer boundary end point set as endpoint corresponding with the pre-selection point set
It closes.
Distance between the subpoint of the maximum two pre- reconnaissances of distance on the direction of measurement straight line is maximum, and this two
Subpoint is respectively positioned on the outer boundary of guiding region point cloud floor projection figure.
As shown in Figure 3b, along measurement straight line step ciDirection on the maximum two pre- reconnaissances of distance subpointWithBetween distance it is maximum, with subpointWithCorresponding two pre- reconnaissances be from measurement straight line
step ciThe endpoint filtered out in corresponding pre-selection point set.
Each endpoint is the first side point or second side endpoint, the first side point subpoint and second side endpoint subpoint minute
Not Wei Yu guiding region principal direction straight line two sides, the quantity difference of the first side point and second side endpoint is less than or equal to preset quantity
Threshold value.First side point subpoint is subpoint of the first side point on the point cloud floor projection figure of guiding region, the second side
Point subpoint is subpoint of second side endpoint on the point cloud floor projection figure of guiding region, " first " in the present embodiment and
" second " is relative concept, is not limited to the specific position of endpoint.
Fig. 4 is a kind of flow diagram for guiding region outer boundary endpoint screening step that the embodiment of the present disclosure provides, such as Fig. 4
It is shown, guiding region outer boundary endpoint screening step is also executed between step S4 and step S5, guiding region outer boundary endpoint sieve
The step is selected to include:
Step S45a, coordinate system is established as the longitudinal axis using guiding region principal direction straight line and chooses the maximum endpoint projection of ordinate
Point is used as datum mark.
Fig. 5 a-5c is a kind of exemplary diagram of guiding region outer boundary endpoint screening step provided in this embodiment, such as Fig. 5 a institute
Show, the first side point subpoint and second side endpoint subpoint are located at the guiding region two sides principal direction straight line p '.With guiding region
Principal direction straight line p ' is that the longitudinal axis establishes coordinate system, and each point in the point cloud floor projection figure of guiding region has two-dimensional coordinate, choosing
Take wherein the maximum endpoint subpoint a of ordinate as datum mark.
Step S45b, the distance value between each endpoint subpoint and datum mark is calculated.
The distance value is calculated according to the coordinate of the coordinate of endpoint subpoint and datum mark, distance value is numerical value.
Step S45c, all the first side point subpoints are ranked up respectively according to distance value, to all the second sides
Point subpoint is ranked up.
First side point subpoint is ranked up according to distance value is ascending, it is ascending to second according to distance value
Side point subpoint is ranked up.As shown in Figure 5 b, all the first side point subpoints after sequence form guiding region master in figure
Lines shown in the left side straight line p ' of direction, whole second side endpoint subpoints after sequence form guiding region principal direction straight line in figure
Lines shown in the right side p ', the line of the first side point subpoint and the line approximation of second side endpoint subpoint constitute guiding region
V-arrangement outer boundary.
Step S45d, it in addition to two second side endpoint subpoints of two the first side point subpoints of head and the tail and head and the tail, seeks
Angle value between each first side point subpoint two the first side point subpoint lines adjacent thereto seeks each second
Angle value between side point subpoint two second side endpoint subpoint lines adjacent thereto.
Pass through formulaCalculate angle value, wherein θ indicates endpoint projection
Angle value between two endpoint subpoint i and endpoint subpoint k line point j adjacent thereto,Indicate endpoint subpoint j
Coordinate,Indicate the coordinate of endpoint subpoint i,Indicate the coordinate of endpoint subpoint k.
Angle value is used to characterize the flatness of endpoint subpoint, and angle value θ is bigger, indicates that the endpoint subpoint is adjacent thereto
Two endpoint subpoints between it is more smooth, angle value θ is smaller, indicates the endpoint subpoint two endpoint subpoints adjacent thereto
Between it is more unsmooth.
Step S45e, when judging that angle value is greater than or equal to default angle value, from guiding region lane line outer boundary end
Endpoint corresponding with the endpoint subpoint is deleted in point set.
Default angle value can be configured according to practical application scene, when angle value is greater than or equal to default angle value, table
Show that the line of the endpoint subpoint two endpoint subpoints adjacent thereto is unsmooth, which is not located at guiding region point
On the outer boundary of cloud floor projection figure, endpoint corresponding with the endpoint subpoint need to be deleted from lane line outer boundary Extreme points set
It removes.
When because road block or guiding region lane line coating damage cause the guiding region edge Dian Yun lack or misrecognition when, meeting
Cause the endpoint extracted in step S4 inaccurate, as shown in Figure 5 b, and then causes in the point cloud floor projection figure of guiding region
The endpoint subpoint projected is not located on the outer boundary of guiding region point cloud floor projection figure, but is located at guiding region point Yun Shui
The inside of flat projecting figure.To avoid above situation, as shown in Fig. 5 b and Fig. 5 c, the present embodiment is based on angle value and judges each end
The flatness of point, endpoint subpoint b, c, the d that can be will not lie on the point cloud floor projection figure outer boundary of guiding region are deleted, in turn
Endpoint corresponding with endpoint subpoint b, c, the d is deleted from lane line outer boundary Extreme points set, realizes guiding region outer boundary
Endpoint screening.
This method of the present embodiment filters out endpoint subpoint from the lane line outer boundary Extreme points set of guiding region and is not located at
Endpoint on the point cloud floor projection figure outer boundary of guiding region, improves the extraction precision of guiding region outer boundary lane line.
Step S5, guiding region outer boundary lane line is extracted according to guiding region lane line outer boundary Extreme points set.
It is modeled based on the guiding region lane line outer boundary endpoint in the lane line outer boundary Extreme points set of guiding region to extract
Guiding region outer boundary lane line.Such as: guiding region lane line outer boundary endpoint being modeled by existing modeling technique, to mention
Take out guiding region outer boundary lane line.
V-arrangement characteristic based on guiding region outer boundary, of different size at the different location vertical with guiding region principal direction and
One group of endpoint of any position angle identical with guiding region vertex composition size, the lane line drawing side that the disclosure provides
Method, the lane line outer boundary particularly suitable for guiding region extract.
Lane line extracting method provided in this embodiment can filter out multiple guiding region outer boundaries from the point cloud of guiding region
Lane line endpoints, the subpoint of guiding region outer boundary lane line endpoints are respectively positioned on the outer boundary of guiding region point cloud floor projection figure
On, the guiding region lane line accuracy with higher that is extracted based on multiple guiding region outer boundary lane line endpoints and incline
Gradient and drift rate are lower.
It should be noted that although describing the operation of method of disclosure in the accompanying drawings with particular order, this is not required that
Or hint must execute these operations in this particular order, or have to carry out operation shown in whole and be just able to achieve the phase
The result of prestige.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or will
One step is decomposed into execution of multiple steps.
It should be noted that in the disclosure, technological means involved in the various embodiments described above is in the feelings that do not disagree
Condition can be combined with each other.
Fig. 6 is a kind of structural schematic diagram for lane line extraction element that the disclosure provides, and lane line is guiding region outer boundary
Lane line, as shown in fig. 6, the lane line extraction element includes: setup module 11, computing module 12, screening module 13 and extracts
Module 14.
Setup module 11 is used to that guiding region principal direction straight line and multiple surveys to be arranged in the point cloud floor projection figure of guiding region
Straight line is measured, each measurement straight line is each perpendicular to guiding region principal direction straight line, and guiding region principal direction is the master of road where guiding region
Direction.Computing module 12 is used to calculate the vertical range in the point cloud of guiding region between each point and each measurement straight line.Screen mould
Block 13 be used for for it is each measurement straight line filter out perpendicular distance less than pre-determined distance point as with the measurement straight line pair
The pre- reconnaissance of whole of the pre- reconnaissance answered, corresponding each measurement straight line forms the pre-selection point set of the corresponding measurement straight line；From pre-selection
Filtered out in point set maximum two pre- reconnaissances of distance on the direction of corresponding measurement straight line as with the pre-selection point set
Corresponding endpoint all preselects the corresponding endpoint of point set and forms guiding region outer boundary Extreme points set.Extraction module 14 is used for root
Guiding region outer boundary lane line is extracted according to guiding region lane line outer boundary Extreme points set.
Fig. 7 is the structural schematic diagram for another lane line extraction element that the disclosure provides, as shown in fig. 7, with institute in Fig. 6
The lane line extraction element shown is compared, the lane line extraction element further include: the first generation module 15 and the second generation module 16.
For first generation module 15 for generating guiding region point cloud corresponding with guiding region, the outer boundary of guiding region is V-shaped, leads
Point in stream area's point cloud all has three-dimensional coordinate.Second generation module 16 is for generating guiding region point corresponding with guiding region point cloud
Cloud floor projection figure, each point in the point cloud of guiding region have subpoint on the point cloud floor projection figure of guiding region, throw
Shadow point has two-dimensional coordinate.
Each endpoint is the first side point or second side endpoint, the first side point subpoint and second side endpoint subpoint minute
Not Wei Yu guiding region principal direction straight line two sides, the quantity difference of the first side point and second side endpoint is less than or equal to preset quantity
Threshold value.Fig. 8 is the structural schematic diagram for another lane line extraction element that the disclosure provides, as shown in figure 8, with shown in Fig. 7
Lane line extraction element compare, the lane line extraction element further include: endpoint screening module 17.Endpoint screening module 17 is wrapped
It includes: establishing and choose submodule 171, computational submodule 172, sorting sub-module 173, seek submodule 174, judging submodule 175
With deletion submodule 176.
It establishes and chooses submodule 171 for establishing coordinate system as the longitudinal axis using guiding region principal direction straight line and choosing ordinate most
Big endpoint subpoint is as datum mark.Computational submodule 172 for calculate each endpoint subpoint between datum mark at a distance from
Value.Sorting sub-module 173 is used to respectively be ranked up, to whole second side all the first side point subpoints according to distance value
Endpoint subpoint is ranked up.Submodule 174 is sought for except two the first side point subpoints of head and the tail and two second from beginning to end
Outside the point subpoint of side, seek between each first side point subpoint two the first side point subpoint lines adjacent thereto
Angle value seeks angle value between each second side endpoint subpoint two second side endpoint subpoint lines adjacent thereto.
Judging submodule 175 is for judging whether angle value is greater than or equal to default angle value.It deletes submodule 176 and is used to work as and judge
When angle value is greater than or equal to default angle value, deleted and the endpoint subpoint from the lane line outer boundary Extreme points set of guiding region
Corresponding endpoint.
Further, submodule 174 is sought for passing through formulaIt calculates
Angle value out, wherein θ is indicated between endpoint subpoint j two endpoint subpoint i and endpoint subpoint k line adjacent thereto
Angle value,Indicate the coordinate of endpoint subpoint j,Indicate the coordinate of endpoint subpoint i,Indicate that endpoint is thrown
The coordinate of shadow point k.
Further, extraction module 14 is used for based on the guiding region lane line in the lane line outer boundary Extreme points set of guiding region
Outer boundary endpoint is modeled to extract guiding region outer boundary lane line.
In addition, the description of realization details and technical effect for above-mentioned each module and submodule, may refer to aforementioned side
The explanation of method embodiment, details are not described herein again.
The embodiment of the present disclosure additionally provides a kind of server, which includes: one or more processors and storage
Device；Wherein, one or more programs are stored on storage device, when said one or multiple programs are by said one or multiple
When processor executes, so that said one or multiple processors realize the lane line drawing side as provided by foregoing embodiments
Method.
The embodiment of the present disclosure additionally provides a computer readable storage medium, is stored thereon with computer program, wherein should
Computer program, which is performed, realizes the lane line extracting method as provided by foregoing embodiments.
It will appreciated by the skilled person that in whole or certain steps, device in method disclosed hereinabove
Functional module/unit may be implemented as software, firmware, hardware and its combination appropriate.In hardware embodiment, with
Division between the functional module/unit referred in upper description not necessarily corresponds to the division of physical assemblies；For example, a physics
Component can have multiple functions or a function or step and can be executed by several physical assemblies cooperations.Certain physical sets
Part or all physical assemblies may be implemented as by processor, as central processing unit, digital signal processor or microprocessor are held
Capable software is perhaps implemented as hardware or is implemented as integrated circuit, such as specific integrated circuit.Such software can be with
Distribution on a computer-readable medium, computer-readable medium may include computer storage medium (or non-transitory medium) and
Communication media (or fugitive medium).As known to a person of ordinary skill in the art, term computer storage medium is included in use
In any method or technique of storage information (such as computer readable instructions, data structure, program module or other data)
The volatile and non-volatile of implementation, removable and nonremovable medium.Computer storage medium include but is not limited to RAM,
ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storages, magnetic holder,
Tape, disk storage or other magnetic memory apparatus or it can be used for storing desired information and can be accessed by a computer
Any other medium.In addition, known to a person of ordinary skill in the art be, communication media generally comprises computer-readable finger
It enables, other data in the modulated data signal of data structure, program module or such as carrier wave or other transmission mechanisms etc,
It and may include any information delivery media.
Example embodiment has been disclosed herein, although and use concrete term, they are only used for simultaneously only should
It is interpreted general remark meaning, and is not used in the purpose of limitation.In some instances, aobvious to those skilled in the art and
Be clear to, unless otherwise expressly stated, the feature that description is combined with specific embodiment that otherwise can be used alone, characteristic and/
Or element, or the feature, characteristic and/or element of description can be combined with other embodiments and be applied in combination.Therefore, art technology
Personnel will be understood that, in the case where not departing from the scope of the present disclosure illustrated by the attached claims, can carry out various forms
With the change in details.
Claims (12)
1. a kind of lane line extracting method, the lane line is guiding region outer boundary lane line, the lane line extracting method packet
It includes:
Guiding region principal direction straight line and multiple measurement straight lines, each measurement straight line are set in the point cloud floor projection figure of guiding region
It is each perpendicular to the guiding region principal direction straight line, the guiding region principal direction is the principal direction of road where the guiding region；
Calculate the vertical range in guiding region point cloud between each point and each measurement straight line；
For it is each measurement straight line filter out perpendicular distance less than pre-determined distance point as with the measurement line correspondences
The pre- reconnaissance of whole of pre- reconnaissance, corresponding each measurement straight line forms the pre-selection point set of the corresponding measurement straight line；
Maximum two pre- reconnaissance conducts of distance on the corresponding direction for measuring straight line are filtered out from the pre-selection point set
Endpoint corresponding with the pre-selection point set all preselects the corresponding endpoint of point set and forms guiding region outer boundary Extreme points set；
Guiding region outer boundary lane line is extracted according to the guiding region lane line outer boundary Extreme points set.
2. lane line extracting method according to claim 1, wherein in setting guiding region principal direction straight line and multiple measurements
Before the step of straight line further include:
Guiding region point cloud corresponding with guiding region is generated, the outer boundary of the guiding region is V-shaped, the point in the guiding region point cloud
All have three-dimensional coordinate；
Generate guiding region point cloud floor projection figure corresponding with the guiding region point cloud, each point in the guiding region point cloud
There is subpoint on the guiding region point cloud floor projection figure, the subpoint has two-dimensional coordinate.
3. lane line extracting method according to claim 2, wherein each endpoint is the first side point or second side
Endpoint, the first side point subpoint and second side endpoint subpoint are located at the two sides of guiding region principal direction straight line, the first side
The quantity difference of endpoint and second side endpoint is less than or equal to preset quantity threshold value；
After the step of filtering out endpoint, and before the step of extracting guiding region outer boundary lane line further include:
Coordinate system is established as the longitudinal axis using the guiding region principal direction straight line and chooses the maximum endpoint subpoint of ordinate as base
On schedule；
Calculate the distance value between each endpoint subpoint and the datum mark；
All the first side point subpoints are ranked up respectively according to the distance value, click-through is projected to whole second side endpoints
Row sequence；
In addition to two second side endpoint subpoints of two the first side point subpoints of head and the tail and head and the tail, each first side point is sought
Angle value between subpoint two the first side point subpoint lines adjacent thereto, seek each second side endpoint subpoint with
Angle value between its two adjacent second side endpoint subpoint line；
When judging that the angle value is greater than or equal to default angle value, deleted from the lane line outer boundary Extreme points set of guiding region
Except endpoint corresponding with the endpoint subpoint.
4. lane line extracting method according to claim 3, wherein seek endpoint subpoint two endpoints adjacent thereto
The step of angle value between subpoint line includes:
Pass through formulaCalculate angle value, wherein θ indicates endpoint subpoint j
Angle value between two endpoint subpoint i and endpoint subpoint k line adjacent thereto,Indicate the seat of endpoint subpoint j
Mark,Indicate the coordinate of endpoint subpoint i,Indicate the coordinate of endpoint subpoint k.
5. lane line extracting method according to claim 3, wherein mentioned according to guiding region lane line outer boundary Extreme points set
Take out guiding region outer boundary lane line the step of include:
It is modeled based on the guiding region lane line outer boundary endpoint in the guiding region lane line outer boundary Extreme points set to extract
Guiding region outer boundary lane line.
6. a kind of lane line extraction element, the lane line is guiding region outer boundary lane line, the lane line extraction element packet
It includes:
Setup module is straight for guiding region principal direction straight line and multiple measurements to be arranged in the point cloud floor projection figure of guiding region
Line, each measurement straight line are each perpendicular to the guiding region principal direction straight line, and the guiding region principal direction is the guiding region place
The principal direction of road；
Computing module, for calculating the vertical range in the point cloud of guiding region between each point and each measurement straight line；
Screening module, for for it is each measurement straight line filter out perpendicular distance less than pre-determined distance point as with the survey
The pre- reconnaissance of line correspondences is measured, the pre- reconnaissance of whole of corresponding each measurement straight line forms the pre-selection point set of the corresponding measurement straight line
It closes；From the maximum two pre- reconnaissances of distance filtered out in the pre-selection point set on the direction of corresponding measurement straight line as with
The corresponding endpoint of pre-selection point set all preselects the corresponding endpoint of point set and forms guiding region outer boundary Extreme points set；
Extraction module, for extracting guiding region outer boundary lane line according to the guiding region lane line outer boundary Extreme points set.
7. lane line extraction element according to claim 6, wherein further include:
First generation module, for generating guiding region point cloud corresponding with guiding region, the outer boundary of the guiding region is V-shaped, institute
The point stated in the point cloud of guiding region all has three-dimensional coordinate；
Second generation module, it is described to lead for generating guiding region point cloud floor projection figure corresponding with the guiding region point cloud
Flow each point in area's point cloud has subpoint on the guiding region point cloud floor projection figure, and the subpoint has two
Tie up coordinate.
8. lane line extraction element according to claim 7, wherein each endpoint is the first side point or second side
Endpoint, the first side point subpoint and second side endpoint subpoint are located at the two sides of guiding region principal direction straight line, the first side
The quantity difference of endpoint and second side endpoint is less than or equal to preset quantity threshold value；
The lane line extraction element further includes endpoint screening module, and the endpoint screening module includes:
It establishes and chooses submodule, for establishing coordinate system as the longitudinal axis using the guiding region principal direction straight line and choosing ordinate maximum
Endpoint subpoint as datum mark；
Computational submodule, for calculating the distance value between each endpoint subpoint and the datum mark；
Sorting sub-module, for being ranked up respectively to all the first side point subpoints according to the distance value, to all the
Two side point subpoints are ranked up；
Submodule is sought, for asking in addition to two second side endpoint subpoints of two the first side point subpoints of head and the tail and head and the tail
Angle value between two the first side point subpoint lines for taking each first side point subpoint adjacent thereto seeks each
Angle value between two side point subpoints, two second side endpoint subpoint lines adjacent thereto；
Judging submodule, for judging whether the angle value is greater than or equal to default angle value；
Submodule is deleted, for when judging that the angle value is greater than or equal to default angle value, outside the lane line of guiding region
Endpoint corresponding with the endpoint subpoint is deleted in boundary end point set.
9. lane line extraction element according to claim 8, wherein the submodule of seeking is for passing through formulaCalculate angle value, wherein θ indicates adjacent thereto two of endpoint subpoint j
Angle value between a endpoint subpoint i and endpoint subpoint k line,Indicate the coordinate of endpoint subpoint j,It indicates
The coordinate of endpoint subpoint i,Indicate the coordinate of endpoint subpoint k.
10. lane line extraction element according to claim 8, wherein the extraction module is used to be based on the guiding region
Guiding region lane line outer boundary endpoint in lane line outer boundary Extreme points set is modeled to extract guiding region outer boundary lane line.
11. a kind of server, comprising:
One or more processors；
Storage device is stored thereon with one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize such as lane line extracting method as claimed in any one of claims 1 to 5.
12. a kind of computer-readable medium, is stored thereon with computer program, wherein described program is performed realization as weighed
Benefit requires any lane line extracting method in 1-5.
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