The embodiment of the invention provides a lane positioning method and device based on computer vision, and the method comprises the steps: obtaining a real-time image, photographed by a vehicle-mounted monocular camera, of a road in front of a vehicle, carrying out the distortion removal of the real-time image of the road in front of the vehicle, and obtaining a video image under an ideal camera;performing lane line detection on the video image under the ideal camera by using a lane line detection algorithm to obtain a lane line detection result of the target vehicle; acquiring primary positioning information of the target vehicle, and performing road matching in combination with electronic map information to acquire lane related data of a road where the target vehicle is located; and determining a relative position relationship between the lane line of the target vehicle and a road boundary according to the lane line detection result, and performing lane-level positioning based on the relative position relationship and the lane-related data. According to the embodiment of the invention, lane-level positioning output is realized, the real-time performance is high, the positioningprecision is high, extra hardware does not need to be deployed, the cost is low, and the deployment is easy.
本发明实施例提供一种基于计算机视觉的车道定位方法及装置,所述方法包括:获取车载单目相机拍摄的车前道路的实时图像,对所述车前道路的实时图像进行去畸变处理,获得理想相机下的视频图像;利用车道线检测算法对所述理想相机下的视频图像进行车道线检测,得到目标车辆的车道线检测结果;获取所述目标车辆的初级定位信息,并结合电子地图信息进行道路匹配,获得所述目标车辆所在道路的车道相关数据;根据所述车道线检测结果确定所述目标车辆的车道线与道路边界间的相对位置关系,基于所述相对位置关系和所述车道相关数据进行车道级定位。本发明实施例实现了车道级定位输出,实时性强,定位精度高,无需部署额外的硬件,成本低且易于部署。
Lane positioning method and device based on computer vision
基于计算机视觉的车道定位方法及装置
25.08.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06K Erkennen von Daten , RECOGNITION OF DATA |
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