The invention provides a road cone barrel connecting line extraction method and device, equipment and a medium to solve the technical problem that an existing discrete boundary extraction method is high in false detection rate. The road cone barrel connecting line extraction method comprises the steps that coordinate data of a cone barrel are obtained, a sensing module obtains position information of the cone barrel relative to a vehicle, and the position information is converted into VCS coordinates through camera parameters to obtain the coordinate data of the cone barrel; clustering all the cone buckets according to the coordinate data of the cone buckets, and obtaining a plurality of groups; wherein the plurality of groups are clustered based on a straight line fitting error principle and a maximum matching number principle, and are obtained through multiple times of iterative optimization; the inner side boundary of the conical barrel is extracted according to the multiple groups; and carrying out boundary fitting inspection on the extracted inner side boundary of the conical barrel. According to the cone barrel grouping method, accurate clustering of cone barrel connecting line boundaries can be realized, and accurate boundary extraction is realized.
本发明提供一种道路锥桶连线提取方法、装置、设备和介质,以解决现有离散边界提取方法误检率较高的技术问题。该道路锥桶连线提取方法,包括:获取锥桶的坐标数据,所述锥桶的坐标数据由感知模块获取锥桶相对车辆的位置信息,并将所述位置信息通过相机参数转换为VCS坐标得到;根据锥桶的坐标数据对所有锥桶进行聚类,并得到多个分组;其中,所述多个分组基于直线拟合误差原则与匹配数量最多原则进行聚类,并通过多次迭代优化得到;根据所述多个分组提取锥桶内侧边界;对提取的锥桶内侧边界进行边界拟合检验。本发明锥桶分组可实现对锥桶连线边界的准确聚类,并实现准确的边界提取。
Road cone barrel connecting line extraction method, device, equipment and medium
一种道路锥桶连线提取方法、装置、设备和介质
2023-03-21
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 |
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