The invention discloses a road shoulder detection method and device and a storage medium, relates to the technical field of image processing, and aims to provide a reasonable road shoulder detection method. The method comprises the following steps: acquiring cloud data of a to-be-detected point; performing data classification on the to-be-detected point cloud data to obtain at least two groups ofsingle-line data, wherein the single-line data is composed of a plurality of point cloud data; respectively denoising each group of single-line data, and carrying out data integration on each group ofdenoised single-line data; and performing curve fitting on the integrated point cloud data to obtain a road shoulder curve. Thus, through extraction and fitting of the point cloud data, a road shoulder detection method is finally provided, the road shoulder data obtained through the method is high in accuracy, a road shoulder curve can be detected in real time during automatic driving, the shapeof a road is obtained, and a traveling route is planned for automatic driving.

    本申请公开了一种路肩检测方法、装置及存储介质,涉及图像处理技术领域,用以提供一种路肩检测的合理方法。该方法包括:获取待检测点云数据;对所述待检测点云数据进行数据分类,得到至少两组单线数据;其中,所述单线数据由多个点云数据组成;分别对每组单线数据进行去噪处理,并将去噪后的各组单线数据进行数据整合;对整合后的点云数据进行曲线拟合,得到路肩曲线。这样,通过对点云数据的提取和拟合,最终提供了一种路肩检测的方法,且通过该方式获取的路肩数据,准确度高,可以在自动驾驶时实时的检测路肩曲线,从而得到道路的形状,为自动驾驶规划行进路线。


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    Title :

    Road shoulder detection method and device and storage medium


    Additional title:

    一种路肩检测方法、装置及存储介质


    Contributors:
    CHEN HAIBO (author) / LIN JIN (author) / DENG PENG (author)

    Publication date :

    2020-12-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06K Erkennen von Daten , RECOGNITION OF DATA / 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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