CN112258595A - Method and system for evaluating confidence of transverse deceleration marked line - Google Patents
Method and system for evaluating confidence of transverse deceleration marked line Download PDFInfo
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- CN112258595A CN112258595A CN202011159892.1A CN202011159892A CN112258595A CN 112258595 A CN112258595 A CN 112258595A CN 202011159892 A CN202011159892 A CN 202011159892A CN 112258595 A CN112258595 A CN 112258595A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000011156 evaluation Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 10
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000007689 inspection Methods 0.000 abstract description 3
- 238000000605 extraction Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/003—Reconstruction from projections, e.g. tomography
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
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- G06T5/70—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
Abstract
The invention provides a method and a system for evaluating confidence of a transverse deceleration marking, wherein the method comprises the following steps: acquiring two-dimensional image data corresponding to the transverse deceleration marking data; and extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data, and evaluating the characteristic pair key points of the transverse deceleration marked line. The method and the system for evaluating the confidence coefficient of the transverse deceleration marked line provided by the embodiment of the invention reduce the quality inspection time of the transverse deceleration marked line in the high-precision map after extraction, and greatly improve the manufacturing efficiency of the high-precision map.
Description
Technical Field
The invention relates to the technical field of automatic driving high-precision map making, in particular to a method and a system for evaluating confidence of a transverse deceleration marking.
Background
The transverse deceleration marked line is one of the elements for manufacturing the high-precision map, the elements such as the transverse deceleration marked line and the like are firstly required to be extracted when the high-precision map is manufactured, then the quality of the transverse deceleration marked line which is automatically extracted is manually detected, the transverse deceleration marked line which is automatically extracted is required to be measured in the manual detection process to determine whether the transverse deceleration marked line meets the manufacturing standard or not, a large amount of time is consumed in the process, the problem of false detection also exists, and the efficiency of manufacturing the high-precision map is greatly influenced.
Therefore, a need exists for a method and system for lateral deceleration reticle confidence assessment to address this issue.
Disclosure of Invention
The invention provides a method and a system for evaluating confidence of a transverse deceleration marked line, which are used for solving the problem of low efficiency that whether the transverse deceleration marked line meets the manufacturing standard can be determined only by manually measuring the transverse deceleration marked line.
In a first aspect, an embodiment of the present invention provides a method for evaluating confidence of a lateral deceleration reticule, including:
acquiring two-dimensional image data corresponding to the transverse deceleration marking data;
and extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data, and evaluating the characteristic pair key points of the transverse deceleration marked line.
The acquiring of the two-dimensional image data corresponding to the transverse deceleration marked line data comprises the following steps:
extracting data used by a map;
and if the data used by the map is laser point cloud data, projecting the laser point cloud data to be the two-dimensional image data.
Wherein the method further comprises:
and preprocessing the key points of the characteristics of the transverse deceleration marked line.
Wherein, the preprocessing the key points of the characteristic pair of the transverse deceleration marked lines comprises the following steps:
removing the point which is falsely detected as the transverse deceleration marked line;
and evaluating whether the key points of the transverse deceleration marked line meet the map making standard.
Wherein, the removing the point of the false detection as the transverse deceleration marked line comprises the following steps:
and if the gray sum of the area in the selected direction of the current point is far larger than the gray sum of the other side of the selected direction, and the width of the area on the other side of the selected direction is narrow, judging that the lane line is mistakenly detected as the point of the transverse deceleration marked line.
Wherein the evaluating the characteristic of the lateral deceleration strip for keypoints comprises:
and selecting one corner point, and if the maximum value of the selected region of the corner points is close to the maximum value of the target region and is far greater than the maximum values of the other five regions, determining that the corner points conform to the high-precision map making standard.
In a second aspect, an embodiment of the present invention provides a system for lateral deceleration reticle confidence evaluation, including:
the data acquisition module is used for acquiring two-dimensional image data corresponding to the transverse deceleration marking data;
and the evaluation module is used for extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data and evaluating the characteristic pair key points of the transverse deceleration marked line.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the steps of the method for lateral deceleration reticle confidence evaluation as provided in the first aspect.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, performs the steps of a method for lateral deceleration reticle confidence evaluation as provided in the first aspect above.
According to the method and the system for evaluating the confidence coefficient of the transverse deceleration marking, provided by the embodiment of the invention, the two-dimensional image data corresponding to the transverse deceleration marking data is firstly obtained, then the characteristic pair key points of the transverse deceleration marking in the two-dimensional image data are extracted, and the characteristic pair key points of the transverse deceleration marking are evaluated. The quality inspection time after the transverse deceleration marked line in the high-precision map is extracted is shortened, and the manufacturing efficiency of the high-precision map is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for confidence evaluation of a lateral deceleration reticle according to an embodiment of the present invention;
FIG. 2 is a two-dimensional projection of lateral deceleration reticle data provided in accordance with an embodiment of the present invention;
FIG. 3 is a two-dimensional projection of further lateral deceleration reticle data provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a system for confidence evaluation of a lateral deceleration reticle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Fig. 1 is a schematic flowchart of a method for confidence evaluation of a lateral deceleration reticle according to an embodiment of the present invention, as shown in fig. 1, including:
101. acquiring two-dimensional image data corresponding to the transverse deceleration marking data;
102. and extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data, and evaluating the characteristic pair key points of the transverse deceleration marked line.
Specifically, in step 101, in the embodiment of the present invention, first, two-dimensional image data in high-precision map data needs to be extracted, and if the automatically extracted horizontal deceleration marking data is laser point cloud data, the two-dimensional image data needs to be projected first. Fig. 2 is a two-dimensional projection view corresponding to the lateral deceleration reticle data provided in the embodiment of the present invention; FIG. 3 is a two-dimensional projection of further lateral deceleration reticle data provided in accordance with an embodiment of the present invention.
Further, in step 102, the embodiment of the present invention needs to extract feature pair key points of the horizontal deceleration marked line in the two-dimensional image data, which are generally 4 corner points in the horizontal rectangle. And then, evaluating the confidence coefficient of the key point according to the characteristics of the transverse deceleration marked line, and judging whether the point meets the high-precision map making standard. The confidence coefficient comprises a credible state and an incredible state, and the confidence coefficient of the transverse deceleration marked line represents the accurate confidence coefficient of the identification of the transverse deceleration marked line.
The method for evaluating the confidence coefficient of the transverse deceleration marking, provided by the embodiment of the invention, comprises the steps of firstly obtaining two-dimensional image data corresponding to the transverse deceleration marking data, then extracting the characteristic pair key points of the transverse deceleration marking in the two-dimensional image data, and evaluating the characteristic pair key points of the transverse deceleration marking. The quality inspection time after the transverse deceleration marked line in the high-precision map is extracted is shortened, and the manufacturing efficiency of the high-precision map is greatly improved.
On the basis of the above embodiment, the acquiring the two-dimensional image data corresponding to the lateral deceleration reticle data includes:
extracting data used by a map;
and if the data used by the map is laser point cloud data, projecting the laser point cloud data to be the two-dimensional image data.
Specifically, the data used in the embodiment of the present invention is two-dimensional image data, the data used in the high-precision map is generally laser point cloud data, if the automatically extracted horizontal deceleration marking data is laser point cloud data, the data needs to be projected as two-dimensional image data, and if the automatically extracted horizontal deceleration marking data is two-dimensional image data, the data does not need to be projected.
On the basis of the above embodiment, the method further includes:
and preprocessing the key points of the characteristics of the transverse deceleration marked line.
On the basis of the above embodiment, the preprocessing the characteristic pair key points of the lateral deceleration marked line includes:
removing the point which is falsely detected as the transverse deceleration marked line;
and evaluating whether the key points of the transverse deceleration marked line meet the map making standard.
Specifically, the lateral deceleration mark line is a rectangle perpendicular to the lane line on the road, and generally appears as a lateral rectangle in the projection view, and the mark line may be an oblique rectangle due to factors such as the projection method and the road curve. The key points of the automatically extracted transverse deceleration marked line are 4 angular points of a rectangle, the gray value difference between the transverse deceleration marked line region and the lane line region in the projection image is not large, firstly, the lane line is mistakenly detected as the points of the transverse deceleration marked line and removed, and then whether the key points of the transverse deceleration marked line meet the manufacturing standard of a high-precision map is evaluated, taking the manufacturing standard of 5cm as an example (namely, the difference between the extracted transverse deceleration marked line and the real transverse deceleration marked line is less than 5cm, and 1 pixel is 1 cm).
The specific method comprises the following steps: taking 4 pixels from top to bottom and from left to right respectively by taking a current point as a center to obtain a 9 × 9 area (marked as S), and then taking 8 rectangular frames (up/down/left/right/left up/left down/right up/right down) adjacent to the area around the area, wherein the side adjacent to the S area needs to be slightly smaller due to the fact that a transverse deceleration marked line in a projection drawing is inclined, the width of the upper area and the width of the lower area in the row direction can be 9 or smaller than that of the S area, the height of the upper area and the lower area in the row direction can be as large as possible, the height of the upper area and the lower area can be 19, and the size of the upper area and the lower area is 19 × 9; the left area and the right area can be 9 or smaller than the S area in height in the column direction, the width is larger as much as possible, the width larger than the lane line is ensured, 29 can be selected, and the size of the left area and the right area is 9 × 29; the other four regions may have a greater height and a lesser width, for example, a region size of 19 x 9; 2) calculating the maximum value of 9 areas including the S area and the gray sum of the left area and the right area, calculating the maximum value in the column direction of the left area and the right area to obtain a matrix of 1 x 29, calculating the average value of the maximum values of the columns of the left area and the right area, and calculating a similar threshold (obtained by multiplying the maximum gray value of the 9 areas by a coefficient) and a different threshold (obtained by multiplying the maximum gray value of the S area by a coefficient).
On the basis of the above embodiment, the removing the point where the false detection is the lateral deceleration mark includes:
and if the gray sum of the area in the selected direction of the current point is far larger than the gray sum of the other side of the selected direction, and the width of the area on the other side of the selected direction is narrow, judging that the lane line is mistakenly detected as the point of the transverse deceleration marked line.
Specifically, if the gray sum of the right/left area of the current point is much larger than the gray sum of the left/right area and the width of the right/left area is narrow (the width of the right/left area is calculated according to the maximum average value of the left/right area columns and the similarity threshold), the current point is considered as a point which falsely detects the lane line as the lateral deceleration marked line, and the point does not meet the high-precision map making standard.
On the basis of the above embodiment, the evaluating the characteristic pair key points of the lateral deceleration marked line includes:
and selecting one corner point, and if the maximum value of the selected region of the corner points is close to the maximum value of the target region and is far greater than the maximum values of the other five regions, determining that the corner points conform to the high-precision map making standard.
Specifically, in the embodiment of the present invention, the key points of the horizontal deceleration marked line are selected as four corner points of a rectangle, and taking the upper left point as an example, it can be understood that the calculation manner of the other three points is the same, and if the maximum values of the right/lower and lower-right three regions of the current corner point are close to the maximum value of the S region (determined according to the similarity threshold) and are much larger than the maximum values of the other five regions (determined according to different thresholds), the point is considered to meet the high-precision map making standard.
Fig. 4 is a schematic structural diagram of a system for confidence evaluation of a lateral deceleration reticle according to an embodiment of the present invention, as shown in fig. 4, including: a data acquisition module 401 and an evaluation module 402, wherein:
the data acquisition module 401 is configured to acquire two-dimensional image data corresponding to the horizontal deceleration marking data;
the evaluation module 402 is configured to extract feature pair key points of the lateral deceleration marked line in the two-dimensional image data, and evaluate the feature pair key points of the lateral deceleration marked line.
For a specific way of using the data obtaining module 401 and the evaluating module 402 to evaluate the confidence level of the lateral deceleration reticle, reference may be made to the above method embodiment, and details of the embodiment of the present invention are not repeated herein.
In an embodiment, based on the same concept, an embodiment of the present invention further provides an electronic device, as shown in fig. 5, where fig. 5 illustrates a schematic structural diagram of the electronic device, and the electronic device may include: a processor (processor)501, a communication Interface (Communications Interface)502, a memory (memory)503, and a bus 504, wherein the processor 501, the communication Interface 502, and the memory 503 are configured to communicate with each other via the bus 504. The processor 501 may call logic instructions in the memory 503 to perform the following steps of the road network matching method between heterogeneous high-precision maps, for example, including: acquiring two-dimensional image data corresponding to the transverse deceleration marking data; and extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data, and evaluating the characteristic pair key points of the transverse deceleration marked line.
In one embodiment, based on the same concept, the present embodiment further provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the steps of the road network matching method between the heterogeneous high-precision maps provided by the above-mentioned method embodiments, for example, the steps include: acquiring two-dimensional image data corresponding to the transverse deceleration marking data; and extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data, and evaluating the characteristic pair key points of the transverse deceleration marked line.
In one embodiment, based on the same concept, the embodiment of the present invention further provides a non-transitory computer-readable storage medium, which stores a computer program, and when the computer program is executed by a computer, the computer program causes the computer to perform the steps of the road network matching method between the heterogeneous high-precision maps provided by the above embodiments, for example, the steps include: acquiring two-dimensional image data corresponding to the transverse deceleration marking data; and extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data, and evaluating the characteristic pair key points of the transverse deceleration marked line.
The embodiments of the present invention can be arbitrarily combined to achieve different technical effects.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for lateral deceleration reticle confidence evaluation, comprising:
acquiring two-dimensional image data corresponding to the transverse deceleration marking data;
and extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data, and evaluating the characteristic pair key points of the transverse deceleration marked line.
2. The method for lateral deceleration reticle confidence evaluation according to claim 1, wherein said acquiring two-dimensional image data corresponding to lateral deceleration reticle data comprises:
extracting data used by a map;
and if the data used by the map is laser point cloud data, projecting the laser point cloud data to be the two-dimensional image data.
3. The method for lateral deceleration reticle confidence evaluation of claim 1, further comprising:
and preprocessing the key points of the characteristics of the transverse deceleration marked line.
4. The method for lateral deceleration reticle confidence evaluation according to claim 3, wherein the preprocessing the feature pair keypoints of the lateral deceleration reticle comprises:
removing the point which is falsely detected as the transverse deceleration marked line;
and evaluating whether the key points of the transverse deceleration marked line meet the map making standard.
5. The method for lateral deceleration reticle confidence evaluation according to claim 4, wherein the removing of false positives as points of a lateral deceleration reticle comprises:
and if the gray sum of the area in the selected direction of the current point is far larger than the gray sum of the other side of the selected direction, and the width of the area on the other side of the selected direction is narrow, judging that the lane line is mistakenly detected as the point of the transverse deceleration marked line.
6. The method for lateral deceleration reticle confidence evaluation according to claim 1, wherein the evaluating the characteristic pair keypoints of the lateral deceleration reticle comprises:
and selecting one corner point, and if the maximum value of the selected region of the corner points is close to the maximum value of the target region and is far greater than the maximum values of the other five regions, determining that the corner points conform to the high-precision map making standard.
7. A system for lateral deceleration reticle confidence evaluation, comprising:
the data acquisition module is used for acquiring two-dimensional image data corresponding to the transverse deceleration marking data;
and the evaluation module is used for extracting the characteristic pair key points of the transverse deceleration marked line in the two-dimensional image data and evaluating the characteristic pair key points of the transverse deceleration marked line.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method for lateral deceleration reticle confidence assessment according to any of claims 1 to 6.
9. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, performs the steps of the method for lateral deceleration reticle confidence evaluation according to any of claims 1 to 6.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111192311A (en) * | 2019-12-31 | 2020-05-22 | 武汉中海庭数据技术有限公司 | Automatic extraction method and device for longitudinal deceleration marked line in high-precision map making |
| CN111709322A (en) * | 2020-05-28 | 2020-09-25 | 武汉中海庭数据技术有限公司 | Method and device for calculating lane line confidence |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111192311A (en) * | 2019-12-31 | 2020-05-22 | 武汉中海庭数据技术有限公司 | Automatic extraction method and device for longitudinal deceleration marked line in high-precision map making |
| CN111709322A (en) * | 2020-05-28 | 2020-09-25 | 武汉中海庭数据技术有限公司 | Method and device for calculating lane line confidence |
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