CN111597995B - Lane marking line detection method, system and storage medium - Google Patents
Lane marking line detection method, system and storage medium Download PDFInfo
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- CN111597995B CN111597995B CN202010414896.3A CN202010414896A CN111597995B CN 111597995 B CN111597995 B CN 111597995B CN 202010414896 A CN202010414896 A CN 202010414896A CN 111597995 B CN111597995 B CN 111597995B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
Abstract
The invention relates to a lane marking detection method, a lane marking detection system and a storage medium, which relate to the technical field of electronic maps and solve the problem that the accurate running of a subsequent intelligent mobile terminal is affected due to the fact that a hand-drawn lane marking is often inaccurate due to the subjectivity of people, and comprise the following steps: step S100: the main control terminal starts a shooting device and acquires RGB images in front of the intelligent mobile terminal through the shooting device; step S200: the main control terminal performs image processing based on the front RGB image; step S300: the main control terminal screens out lane line information meeting the requirements based on the processed RGB image; step S400: the main control terminal converts the information of the selected lane lines into a map and marks the information of the lane lines in the map. The method has the advantages that the on-site lane line is effectively detected and integrated into the map, so that the intelligent mobile terminal can conveniently and accurately run.
Description
Technical Field
The invention relates to the technical field of electronic maps, in particular to a lane marking detection method, a lane marking detection system and a storage medium.
Background
With the wide application and development innovation of computer technology, more and more intelligent products are appeared in the life of people, and intelligent mobile terminals become one of popular intelligent products for people.
The existing intelligent mobile terminal mainly runs according to a preset lane line when working, and the preset lane line is usually a hand-drawn lane line mark of a worker in a map.
The prior art solutions described above have the following drawbacks: the hand-drawn lane lines are often not accurate due to the subjectivity of the person so as to affect the accurate driving of the subsequent intelligent mobile terminal.
Disclosure of Invention
The invention aims to provide the lane marking line detection method which has the effects of effectively realizing the detection of the on-site lane lines and being integrated into a map so as to facilitate more accurate running of the intelligent mobile terminal.
The above object of the present invention is achieved by the following technical solutions:
a lane marking detection method, comprising the steps of:
step S100: the main control terminal starts a shooting device and acquires RGB images in front of the intelligent mobile terminal through the shooting device;
step S200: the main control terminal performs image processing based on the front RGB image;
step S300: the main control terminal screens out lane line information meeting the requirements based on the processed RGB image;
step S400: the main control terminal converts the information of the selected lane lines into a map and marks the information of the lane lines in the map.
By adopting the technical scheme, the image acquisition and corresponding processing of the road section in front of the intelligent mobile terminal are realized through the arrangement of the step S100 and the step S200, the lane line information extraction based on the processed picture is realized through the arrangement of the step S300 and the step S400, and the lane line information is marked in the map, so that the intelligent mobile terminal can conveniently work in the forward direction according to the lane line, and the phenomenon of driving errors is avoided.
The invention is further provided with: step S200 includes the steps of:
step S210: the main control terminal intercepts the lower half part of the front RGB image and reserves the lower half part of the front RGB image;
step S220: the main control terminal starts a bilateral filtering module to remove noise information of the image.
By adopting the technical scheme, the lane line is mainly positioned at the lower half part of the image through the arrangement of the step S210, so that only the lower half part is cut and reserved when cut, on one hand, the storage of data is reduced, on the other hand, the processing efficiency of the image is improved, and the denoising point of the image is effectively realized through the arrangement of the step S220, so that the bad factors in the image are reduced.
The invention is further provided with: step S300 includes the steps of:
step S310: the main control terminal takes the lane lines as query objects, queries color thresholds and constraint conditions corresponding to the corresponding lane lines in a first database, wherein the first database is a preset database and stores the lane lines and the color thresholds and constraint conditions matched with the lane lines;
step S320: the main control terminal retrieves the image and extracts the lane line information meeting the requirements through the color threshold value and the constraint condition retrieved from the first database.
By adopting the technical scheme, the lane line identification judgment and corresponding extraction are effectively realized by setting the step S310 and the step S320 based on the lane line color threshold and the constraint condition, so that the interference factors in the picture are further reduced.
The invention is further provided with: step S300 further includes step S330 following step S320, and step S330 is specifically as follows:
the main control terminal starts a morphology change module, and the slender lane line noise points are further filtered through the corrosion expansion function of the morphology change module.
By adopting the technical scheme, the morphological change module can further reduce the lane line noise point in the picture and further reduce the interference factors.
The invention is further provided with: step S300 further includes step S340 located after step S330, step S340 including the steps of:
step S341: the main control terminal marks the minimum external contour line based on the lane line information;
step S342: the main control terminal invokes a second database to acquire lane line characteristic information, wherein the second database is a preset database and stores the lane line characteristic information, and the definition lane line characteristic information comprises a minimum external contour pixel area threshold value and a relation between the external contour length and the external contour width under the corresponding minimum external contour pixel area threshold value;
step S343: the main control terminal filters out non-lane line information based on the lane line characteristic information.
By adopting the technical scheme, the minimum external contour line is marked through the arrangement of the steps S341, S342 and S343, so that invalid lane line information in the picture is reduced, the interference of the information is reduced, and the preparation is made for the subsequent lane line information to be fused into a map.
The invention is further provided with: step S400 includes the steps of:
step S410: the main control terminal starts a camera internal and external parameter conversion module to acquire actual distance information of a pixel point at the bottom of the minimum external outline based on the acquired image information;
step S420: the main control terminal converts the obtained distance information into an actual map, and displays the identified lane line information in the form of points in the map;
step S430: the main control terminal marks out the lane line information by a head-to-tail point connection or straight line fitting method.
Through adopting the technical scheme, the internal and external parameters are converted through the camera internal and external parameters conversion module based on the lane line information through the settings of the step S410, the step S420 and the step S430, so that the lane line information is accurately integrated into a map, and the intelligent mobile terminal can conveniently and well travel according to the lane line when traveling.
The invention also provides a lane marking detection system which has the effects of effectively realizing the detection of the on-site lane marking and being integrated into a map so as to facilitate the more accurate running of the intelligent mobile terminal,
the above object of the present invention is achieved by the following technical solutions:
a lane marking detection system comprising a memory, a processor and a program stored on the memory and executable on the processor, which program, when loaded and executed by the processor, is capable of implementing the lane marking detection method as claimed in the preceding claim.
By adopting the technical scheme, the image acquisition and corresponding processing of the road section in front of the intelligent mobile terminal are realized, the lane line information extraction based on the processed image is realized, and the lane line information is marked in the map, so that the intelligent mobile terminal can conveniently work in the forward direction according to the lane line, and the phenomenon of running errors is avoided
The third object of the invention is to provide a computer storage medium, which is convenient for a processor to call a program of a lane marking detection method, so that the detection of the on-site lane marking is realized and the on-site lane marking is integrated into a map, thereby facilitating more accurate running of an intelligent mobile terminal.
The above object of the present invention is achieved by the following technical solutions:
a computer storage medium comprising a program capable of implementing the lane marking detection method of the preceding claim when loaded and executed by a processor.
By adopting the technical scheme, the degree of the lane marking detection method is conveniently adjusted by the processor, the detection of the on-site lane marking is realized, and the on-site lane marking is integrated into the map, so that the intelligent mobile terminal can conveniently and accurately run.
In summary, the beneficial technical effects of the invention are as follows: the intelligent mobile terminal has the advantages that the lane line information is acquired and analyzed through the photo information acquired through the shooting of the road section in front of the intelligent mobile terminal and is integrated into the map, so that the intelligent mobile terminal can accurately recognize the lane line information, and the intelligent mobile terminal can accurately run conveniently.
Drawings
FIG. 1 is a schematic diagram showing the overall steps of a lane marking detection method according to the present invention.
Fig. 2 is a schematic diagram showing specific steps of step S200 in fig. 1.
Fig. 3 is a schematic diagram illustrating a specific step of step S300 in fig. 1.
Fig. 4 is a specific step diagram of step S340.
Fig. 5 is a schematic diagram showing specific steps of step S400 in fig. 1.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, a lane marking detection method according to the present invention includes the following steps S100 to S400.
In step S100, the main control terminal starts the photographing device and obtains the RGB image in front of the intelligent mobile terminal through the photographing device, where the photographing device is disposed on the intelligent mobile terminal and is used for photographing the device in front of the intelligent mobile terminal, which may be a camera or the like, where the device may be a camera, preferably a camera, where the intelligent mobile terminal may be a cleaning robot, a sweeping robot, or the like, and where the device may be a cleaning robot.
In step S200, the main control terminal screens out lane line information meeting the requirements based on the processed RGB image.
Step S200 may be divided into steps S210-S220, see FIG. 2.
Step S210 is: the main control terminal intercepts the lower half part of the front RGB image and reserves the lower half part image, wherein the mode that the main control terminal intercepts the lower half part of the front RGB image can be realized by constructing a resize function in a programming language.
Step S220 is: the main control terminal starts the bilateral filtering module to remove noise information of the image, the bilateral filtering module is mainly realized by constructing a bilateralFilter bilateral filtering function in a programming language, and the bilateral filtering (bilateralFilter) is a nonlinear filtering method and combines spatial proximity of the image and pixel value similarity to perform compromise processing, and meanwhile, spatial domain information and gray level similarity are considered to achieve the purpose of edge protection and denoising.
In step S300, the main control terminal screens out lane line information meeting the requirements based on the processed RGB image.
Wherein step S300 can be divided into steps S310-S340, see fig. 3, specifically as follows:
step S310: the main control terminal takes the lane line as an inquiry object, inquires a color threshold value and a constraint condition corresponding to the corresponding lane line in a first database, wherein the first database is a preset database, and stores the lane line and the color threshold value and the constraint condition matched with the lane line, for example, the color threshold value and the constraint condition are shown as white lane line threshold values and constraint conditions (80 < R <256, 60< G <240, 30< B <160, R > = G, R-G <60, G-B > 10).
Step S320: the main control terminal retrieves the image and extracts the lane line information meeting the requirements through the color threshold value and the constraint condition retrieved from the first database.
Step S330: the main control terminal starts a morphology change module, the slender lane noise is further filtered through the corrosion expansion function of the morphology change module, and the morphology change module applied here can be realized by constructing a morphology conversion function of morphyodex.
Further considering how accurate lane line information is taken, step S300 is provided with step S340 after step S330.
Step S340 specifically includes steps S341 to S343, and referring to fig. 4, the following is specific.
Step S341: the main control terminal marks the minimum external contour line based on the lane line information, the minimum external contour line is marked at the position, the required lane line information can be effectively extracted, for example, only the lane line on the left of a lane is required to be identified, and only the position of the pixel point of the minimum external contour is required to be judged to be at the position on the left of an image.
Step S342: the main control terminal invokes a second database to obtain the lane line characteristic information, wherein the second database is a preset database and stores the lane line characteristic information, and the definition lane line characteristic information comprises a minimum external contour pixel area threshold value and a relation between the external contour length and the external contour width under the corresponding minimum external contour pixel area threshold value. For example, the minimum circumscribing contour pixel area threshold is (1000, 8000), and the minimum circumscribing contour length is at least three times its width.
Step S343: the main control terminal filters out non-lane line information based on the lane line characteristic information.
In step S400, the master control terminal converts the selected lane line information into a map, and marks the lane line information in the map.
The specific step S400 includes the following steps S410 to S430, see fig. 5.
Step S410: the main control terminal starts the camera internal and external parameter conversion module to acquire the actual distance information of the pixel point at the bottom of the minimum external outline based on the acquired image information, for example, if the length in the image is 10 cm and the ratio detected by the camera internal and external parameter conversion module is 1:5, the actual length is 50 cm.
Step S420: the main control terminal converts the obtained distance information into an actual map, and displays the identified lane line information in the form of points in the map.
Step S430: the main control terminal marks out the lane line information by a head-to-tail point connection or straight line fitting method.
Embodiments of the present invention provide a computer readable storage medium comprising a program capable of implementing a method as any of fig. 1-5 when loaded and executed by a processor.
The computer-readable storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Based on the same inventive concept, an embodiment of the present invention provides a lane marking detection system, which includes a memory and a processor, wherein a program capable of implementing any one of the methods shown in fig. 1 to 5 is stored in the memory.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
The embodiments of the present invention are all preferred embodiments of the present invention, and are not intended to limit the scope of the present invention in this way, therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (6)
1. The lane marking detection method is characterized by comprising the following steps of:
step S100: the main control terminal starts a shooting device and acquires RGB images in front of the intelligent mobile terminal through the shooting device;
step S200: the main control terminal performs image processing based on the front RGB image;
step S300: the main control terminal screens out lane line information meeting the requirements based on the processed RGB image;
step S400: the main control terminal converts the information of the selected lane lines into a map and marks the information of the lane lines in the map;
step S200 includes the steps of:
step S210: the main control terminal intercepts the lower half part of the front RGB image and reserves the lower half part of the front RGB image;
step S220: the main control terminal starts a bilateral filtering module to remove noise information of the image; step S400 includes the steps of:
step S410: the main control terminal starts a camera internal and external parameter conversion module to acquire actual distance information of a pixel point at the bottom of the minimum external outline based on the acquired image information;
step S420: the main control terminal converts the obtained distance information into an actual map, and displays the identified lane line information in the form of points in the map;
step S430: the main control terminal marks out the lane line information by a head-to-tail point connection or straight line fitting method.
2. The lane marking detection method according to claim 1, wherein step S300 includes the steps of:
step S310: the main control terminal takes the lane lines as query objects, queries color thresholds and constraint conditions corresponding to the corresponding lane lines in a first database, wherein the first database is a preset database and stores the lane lines and the color thresholds and constraint conditions matched with the lane lines;
step S320: the main control terminal retrieves the image and extracts the lane line information meeting the requirements through the color threshold value and the constraint condition retrieved from the first database.
3. The lane marking detection method according to claim 2, wherein: step S300 further includes step S330 following step S320, and step S330 is specifically as follows:
the main control terminal starts a morphology change module, and the slender lane line noise points are further filtered through the corrosion expansion function of the morphology change module.
4. The lane marking detection method according to claim 3, wherein step S300 further comprises step S340 located after step S330, step S340 comprising the steps of:
step S341: the main control terminal marks the minimum external contour line based on the lane line information;
step S342: the main control terminal invokes a second database to acquire lane line characteristic information, wherein the second database is a preset database and stores the lane line characteristic information, and the definition lane line characteristic information comprises a minimum external contour pixel area threshold value and a relation between the external contour length and the external contour width under the corresponding minimum external contour pixel area threshold value;
step S343: the main control terminal filters out non-lane line information based on the lane line characteristic information.
5. A lane marking detection system, characterized by: comprising a memory, a processor and a program stored on the memory and executable on the processor, which program is capable of realizing the lane marking detection method according to any one of claims 1 to 4 when loaded and executed by the processor.
6. A computer storage medium, characterized by: a program comprising instructions capable of implementing the lane marking detection method of any one of claims 1 to 4 when loaded and executed by a processor.
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| CN105260699A (en) * | 2015-09-10 | 2016-01-20 | 百度在线网络技术（北京）有限公司 | Lane line data processing method and lane line data processing device |
| CN108805065A (en) * | 2018-05-31 | 2018-11-13 | 华南理工大学 | One kind being based on the improved method for detecting lane lines of geometric properties |
| EP3506156A1 (en) * | 2017-12-29 | 2019-07-03 | Baidu Online Network Technology (Beijing) Co., Ltd. | Method and apparatus for detecting lane line, and medium |
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| CN105260699A (en) * | 2015-09-10 | 2016-01-20 | 百度在线网络技术（北京）有限公司 | Lane line data processing method and lane line data processing device |
| EP3506156A1 (en) * | 2017-12-29 | 2019-07-03 | Baidu Online Network Technology (Beijing) Co., Ltd. | Method and apparatus for detecting lane line, and medium |
| CN108805065A (en) * | 2018-05-31 | 2018-11-13 | 华南理工大学 | One kind being based on the improved method for detecting lane lines of geometric properties |
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