The embodiment of the invention discloses a lane line construction method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a road image and a road point cloud corresponding to the road image, determining a lane line image according to the road image, and carrying out the segmentation according to the road point cloud to obtain a target ground point cloud; determining a conversion matrix corresponding to each preset triangular grid according to each preset triangular grid and each point cloud point coordinate in the target ground point cloud; wherein the transformation matrix is a matrix used for coordinate transformation of point cloud point coordinates and pixel point coordinates; and according to each pixel point coordinate and each conversion matrix corresponding to the lane line image, determining each point cloud point coordinate corresponding to the lane line image, and according to each point cloud point coordinate corresponding to the lane line image, constructing a lane line point cloud corresponding to the lane line image so as to consider the high precision characteristic of the point cloud and the accuracy characteristic of image segmentation at the same time.
本公开实施例公开了一种车道线构建方法、装置、电子设备和存储介质,该方法包括:获取道路图像以及与道路图像对应的道路点云,根据道路图像,确定车道线图像,并根据道路点云,分割得到目标地面点云;根据各预设三角形网格以及目标地面点云中的各点云点坐标,确定各预设三角形网格对应的转换矩阵;其中,转换矩阵为用于点云点坐标和像素点坐标进行坐标转换的矩阵;根据车道线图像对应的各像素点坐标以及各转换矩阵,确定车道线图像对应的各点云点坐标,并根据车道线图像对应的各点云点坐标,构建车道线图像对应的车道线点云,以同时兼顾点云的高精度特性和图像分割的准确性特性。
Lane line construction method and device, electronic equipment and storage medium
车道线构建方法、装置、电子设备和存储介质
2024-07-30
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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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