CN114677458A - Road mark generation method and device for high-precision map, electronic equipment and storage medium - Google Patents
Road mark generation method and device for high-precision map, electronic equipment and storage medium Download PDFInfo
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- CN114677458A CN114677458A CN202210312056.5A CN202210312056A CN114677458A CN 114677458 A CN114677458 A CN 114677458A CN 202210312056 A CN202210312056 A CN 202210312056A CN 114677458 A CN114677458 A CN 114677458A
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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
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Abstract
The application discloses a road mark generation method and device for a high-precision map, electronic equipment and a storage medium, wherein the method comprises the steps of determining a video file to be processed according to track point information input in advance, and a key frame in the video file is used for determining an image containing a target road mark; converting the pixel coordinates of the target road identification into longitude and latitude coordinates corresponding to the pixel coordinate points; obtaining the relative position of a preset road identifier and the relative position of a road identifier which belongs to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate points, wherein a relative position relation exists between each road identifier and the longitude and latitude coordinates of the pixel coordinate points; and generating a plurality of road identifications according to the relative position relation for loading in the high-precision map. By the method, the target road identification is directly generated according to the video file, and the error rate of the generation process is low.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method and an apparatus for generating a road identifier for a high-precision map, an electronic device, and a storage medium.
Background
The high-precision map is generally a machine-oriented map for use with an autonomous vehicle, and has not only high-precision coordinates but also an accurate road shape, and contains detailed information for each lane.
In the related technology, in the process of making a high-precision map, a maker compares base maps which are taken in advance by watching videos, clicks and edits corresponding positions in the pictures to generate corresponding pavement markers, and then manually finishes the whole process.
However, the position is determined manually, and therefore, the deviation is large and omission is likely to occur.
Disclosure of Invention
The embodiment of the application provides a road mark generation method and device for a high-precision map, electronic equipment and a storage medium, so that the manufacturing efficiency and the generation quality of road marks in the high-precision map are improved, and omission is avoided.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a road identifier generation method for a high-precision map, where the method includes: determining a video file to be processed according to the pre-recorded track point information, wherein a key frame in the video file is used for determining an image containing a target road identifier; converting the pixel coordinates of the target road identification into longitude and latitude coordinates corresponding to the pixel coordinate points; obtaining the relative position of a preset road identifier and the relative position of a road identifier which belongs to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate points, wherein a relative position relation exists between each road identifier and the longitude and latitude coordinates of the pixel coordinate points; and generating a plurality of road identifications according to the relative position relation for loading in the high-precision map.
In a second aspect, an embodiment of the present application further provides a road sign generation apparatus for a high-precision map, where the apparatus includes: the determining module is used for determining a video file to be processed according to track point information input in advance, and a key frame in the video file is used for determining an image containing a target road identifier; the coordinate conversion module is used for converting the pixel coordinate of the target road identifier into a longitude and latitude coordinate corresponding to the pixel coordinate point; the position determining module is used for obtaining the relative position of a preset road identifier and the relative position of a road identifier which belongs to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate points, and a relative position relation is formed between each road identifier and the longitude and latitude coordinates of the pixel coordinate points; and the lane line generating module is used for generating a plurality of road marks according to the relative position relation and loading the road marks in the high-precision map.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the methods described above.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the methods described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
and the target road identification is directly generated according to the video file, and the error rate of the generation process is low.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic hardware structure diagram of a road sign generation method for a high-precision map in an embodiment of the present application;
fig. 2 is a schematic flowchart of a road sign generation method for a high-precision map in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a road sign generation apparatus for a high-precision map according to an embodiment of the present application;
FIG. 4 is a schematic view of a video file generated by road signs for a high-precision map in an embodiment of the present application;
FIG. 5 is a schematic diagram of a process of generating road signs for high-precision maps according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. 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 application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a hardware structure of a road sign generation method for a high-precision map in the embodiment of the present application. Wherein, include: the vehicle 100 is provided with a camera 101 for collecting road information, and the road information includes road identification information. During the travel of the vehicle 100 on the road 200, the front information is collected by the camera 101. Then, a travel track data set of the vehicle is obtained. A plurality of position points are included in the travel track data set.
It is understood that the vehicle 100 may be an autonomous vehicle or a non-autonomous vehicle.
The collected data comprises multi-frame images 300, and after the multi-frame images are processed by background personnel 400, road identifiers for high-precision maps are generated at corresponding positions. The background person 400 directly clicks the ground tag image location of the corresponding location in the image frame of the video and then automatically generates the corresponding tag data.
Example one
An embodiment of the present application provides a road identifier generation method for a high-precision map, where as shown in fig. 2, the method includes:
step S210, determining a video file to be processed according to track point information input in advance, wherein a key frame in the video file is used for determining an image containing a target road identifier;
step S220, converting the pixel coordinate of the target road identification into a longitude and latitude coordinate corresponding to the pixel coordinate point;
step S230, obtaining a relative position of a preset road identifier and a relative position of a road identifier which belongs to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate points, wherein a relative position relationship exists between each road identifier and the longitude and latitude coordinates of the pixel coordinate points;
step S240, generating a plurality of road identifiers according to the relative position relationship for loading in the high-precision map.
Through the steps, the target road mark is directly generated according to the video file, and the error rate of the generation process is low.
Specifically, the automatic road sign generation mode reduces the complexity of road sign operation and improves the efficiency. The generation mode of the road mark also improves the data quality, and the deviation of the manufactured data is small and is closer to the real situation. Moreover, the number of missing production can be reduced.
Before the step S210 is executed, the track point information of the vehicle is recorded by collecting the track point information in the test road section and the closed road section in advance. These track point information serve as markers for distinguishing different road segments.
Preferably, the video file comprises a plurality of video files, which are pre-entered by the collection vehicle.
In a specific embodiment, the track point information entered further includes: and importing the track point layers in the longitude and latitude format into editing software, and then selecting corresponding track points according to requirements.
In one embodiment, the corresponding video file is opened and located to the corresponding frame according to the name of the track point, for example, by naming in a time format.
In the step S210, a video file to be processed is determined according to track point information recorded in advance, and a key frame in the video file is used to determine an image containing a target road identifier. This step performs processing in the background. In determining the key frame, it is necessary to determine whether the target road identifier is included in the image.
In one embodiment, the target road marking is a continuous marking on the road surface.
In a specific embodiment, the target road sign can be drawn after a plurality of key frames are determined through the acquired video file. Background personnel need to click through the relative position of the road sign in the key frame of the video, for example, click on the tail of the road sign on the current frame.
In the above step S220, the pixel coordinate of the target road identifier is converted into a longitude and latitude coordinate corresponding to the pixel coordinate point. The pre-writing program converts the pixel coordinates of the target road identifier into longitude and latitude coordinates corresponding to the pixel coordinate point, and it should be noted that the pixel coordinates of the target road identifier include a plurality of pixel coordinates, and the longitude and latitude conversion needs to be performed on each pixel coordinate.
In the above step S230, a relative position of the preset road identifier and a relative position of a road identifier belonging to the same type as the preset road identifier are obtained according to the longitude and latitude coordinates corresponding to the pixel coordinate point.
The preset road mark is generated in advance, and the relative position of the preset road mark can be determined according to the longitude and latitude coordinates corresponding to the pixel coordinate points. In addition, the relative position of the road mark belonging to the same type as the preset road mark can be obtained. Since the video data includes multiple frames, and may include multiple road identifiers in the road, the relative positions of the road identifiers belonging to the same type as the preset road identifier can be obtained uniformly.
In one embodiment, each road identifier has a relative position relationship with the longitude and latitude coordinates of the pixel coordinate point, so that coordinate conversion between coordinate systems is supported.
In one embodiment, the relative position to the preset road sign is the shortest distance between two points.
In the above step S240, according to the relative position relationship, a plurality of the road identifiers are generated for loading in the high-precision map. And generating a plurality of road identifications by one road identification based on the relative position relation. At the same time, these road markings need to be loaded into high-precision maps.
In one embodiment, the high-precision map is preloaded, that is, the road identifier is generated in the high-precision map by updating.
In one embodiment, the road sign is generated according to a distance between preset length and preset width.
In an embodiment of the present application, the obtaining, according to the longitude and latitude coordinates corresponding to the pixel coordinate point, a relative position of a preset road identifier and a relative position of a road identifier that belongs to the same type as the preset road identifier, where a relative position relationship exists between each road identifier and the longitude and latitude coordinates of the pixel coordinate point includes: obtaining a relative position with a preset road identifier based on longitude and latitude coordinates corresponding to the pixel coordinate point determined by the vision SLAM, wherein the relative position with the preset road identifier is obtained by pre-drawing, and the relative position with the preset road identifier is a linear distance between two points; and determining the relative position of the road identifier belonging to the same type as the preset road identifier according to the relative position of the preset road identifier, wherein the relative position of the preset road identifier belonging to the same type comprises a plurality of road identifiers.
In the embodiment of the present application, the longitude and latitude coordinates corresponding to the pixel coordinate points determined based on the visual SLAM, that is, the longitude and latitude and the height position of the camera can be calculated according to the longitude and latitude position of the current vehicle and the position of the camera relative to the vehicle, and then the longitude and latitude coordinates corresponding to a certain pixel on the image can be calculated according to the longitude and latitude coordinates, the longitude and latitude and the height position of the camera, the internal parameters (usually known or obtained by calibration), the heading angle, the pitch angle and the roll angle (usually provided by an RTK positioning device) of the camera.
Preferably, the converting the pixel coordinate of the target road identifier into a longitude and latitude coordinate corresponding to the pixel coordinate point includes: determining longitude and latitude parameters and height positions of cameras on the collection vehicle, wherein the collection vehicle is used for recording track point information of different roads; and calculating longitude and latitude coordinates corresponding to target pixels on the image corresponding to the key frame based on the internal parameter and the inclination parameter of the camera.
In an embodiment of the application, the determining, according to the relative position with the preset road sign, the relative position with a road sign of the same type as the preset road sign includes: obtaining the perpendicular line and the foot from the pixel coordinate point to a preset road mark according to the relative position of the longitude and latitude coordinate corresponding to the pixel coordinate point and the preset road mark; and determining the relative position of the road mark belonging to the same type as the preset road mark according to the vertical line and the drop feet, and obtaining a straight line after the drop feet are connected.
In the embodiment of the application, the perpendicular line and the foot from the pixel coordinate point to the preset road mark are obtained according to the relative position between the longitude and latitude coordinates corresponding to the pixel coordinate point obtained through calculation and the preset road mark. And determining the relative position of the road mark which belongs to the same type as the preset road mark according to the obtained vertical line and the vertical foot. It can be understood that a plurality of the drop feet are connected to form a straight line, namely, a central line used as a road sign.
In an embodiment of the application, the generating a plurality of the road identifiers according to the relative position relationship for loading in the high-precision map includes: determining the intersection position of the preset road mark according to each relative position relation in a straight line obtained after the plurality of vertical feet are connected; generating a target road mark with fixed length and width based on the intersection position, wherein the target road mark at least comprises one of the following parts: straight line arrow mark, triangle mark and diamond mark.
In the embodiment of the application, for various types of marks on a road surface, including but not limited to determining the intersection position with the preset road mark according to each relative position relationship in a straight line obtained after a plurality of drop feet are connected; generating a target road mark with fixed length and width based on the intersection position, and determining the intersection position with the preset road mark according to each relative position relation in a straight line obtained after the connection of the plurality of drop feet; and generating a target road mark with fixed length and width based on the intersection position.
In one embodiment of the present application, the determining the image containing the target road identifier as the key frame in the video file includes: and under the condition that the key frame in the video file contains the image of the target road mark, selecting the tail end part of the target road mark, wherein the tail end is the same as the indication direction of the preset road mark.
In the embodiment of the application, the terminal end of the target road sign is selected, so that the relative position characteristic of the road sign is convenient to position, and the direction of the road sign can be conveniently indicated as the direction of the preset road sign is the same.
Example two
The embodiment of the application provides a road sign generation device for a high-precision map, wherein as shown in fig. 3, the device comprises:
the determining module 310 is configured to determine a video file to be processed according to pre-entered track point information, where a key frame in the video file is used as an image determined to contain a target road identifier;
the coordinate conversion module 320 is configured to convert the pixel coordinate of the target road identifier into a longitude and latitude coordinate corresponding to the pixel coordinate point;
the position determining module 330 is configured to obtain, according to the longitude and latitude coordinates corresponding to the pixel coordinate point, a relative position of a preset road identifier and a relative position of a road identifier that belongs to the same type as the preset road identifier, where a relative position relationship exists between each road identifier and the longitude and latitude coordinates of the pixel coordinate point;
and the lane line generating module 340 is configured to generate a plurality of road identifiers according to the relative position relationship, so as to load the road identifiers in the high-precision map.
In the embodiment of the present application, the determining module 310 determines a video file to be processed according to track point information entered in advance, where a key frame in the video file is used as an image for determining that the image contains a target road identifier. This step performs processing in the background. The key frame is determined to contain the target road mark in the image.
In one embodiment, the target road marking is a continuous marking on the road surface.
In a specific embodiment, the target road sign can be drawn after a plurality of key frames are determined through the acquired video file. Background personnel need to click through the relative position of the road sign in the key frame of the video, for example, click on the tail of the road sign on the current frame.
In this embodiment, the coordinate conversion module 320 converts the pixel coordinate of the target road identifier into a longitude and latitude coordinate corresponding to the pixel coordinate point. The pre-writing program converts the pixel coordinates of the target road identifier into longitude and latitude coordinates corresponding to the pixel coordinate point, and it should be noted that the pixel coordinates of the target road identifier include a plurality of pixel coordinates, and the longitude and latitude conversion needs to be performed on each pixel coordinate.
In the embodiment of the present application, the position determining module 330 obtains the relative position of the preset road identifier and the relative position of the road identifier belonging to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate point.
The preset road mark is generated in advance, and the relative position of the preset road mark can be determined according to the longitude and latitude coordinates corresponding to the pixel coordinate points. In addition, the relative position of the road mark belonging to the same type as the preset road mark can be obtained. Since the video data includes multiple frames, and may include multiple road identifiers in the road, the relative positions of the road identifiers belonging to the same type as the preset road identifier can be obtained uniformly.
In one embodiment, each road identifier has a relative position relationship with the longitude and latitude coordinates of the pixel coordinate point, so that coordinate conversion between coordinate systems is supported.
In one embodiment, the relative position to the preset road sign is the shortest distance between two points.
In the lane line generation module 340 in this embodiment of the application, a plurality of road identifiers are generated according to the relative position relationship, so as to be loaded in the high-precision map. And generating a plurality of road identifications by one road identification based on the relative position relation. At the same time, these road markings need to be loaded into high-precision maps.
In one embodiment, the high-precision map is preloaded, that is, the road identifier is generated in the high-precision map by updating.
It can be understood that, the above-mentioned road sign generating device for a high-precision map can implement the steps of the road sign generating method for a high-precision map provided in the foregoing embodiment, and the explanations regarding the generation of the road sign for a high-precision map are all applicable to the road sign generating device for a high-precision map, and are not repeated here.
In order to better understand the flow of the road sign generation method for high-precision maps, the following explains the technical solutions with reference to preferred embodiments, but the technical solutions of the embodiments of the present invention are not limited thereto.
As shown in fig. 4, which is a schematic diagram of road signs in one frame of image in a video file, based on the method in the present application, target road signs are directly generated from the video file, and these target road signs are continuous, and are indicated by road arrows in fig. 4.
Based on the above, as shown in fig. 5, which is a schematic diagram of a road sign generation method for a high-precision map in the embodiment of the present application, it should be noted that a video file is obtained by recording and acquiring in advance, and the method specifically includes the following steps:
step S510, determining a video file to be processed according to track point information input in advance, wherein a key frame in the video file is used for determining an image containing a target road identifier;
firstly, importing the track point layer in the longitude and latitude format into editing software, and then selecting a corresponding track point, for example, opening a corresponding video according to the name of the track point (named by adopting a time format) and positioning to a corresponding frame. The backend person would use the mouse to left click on the tail of the arrow to select the target.
Step S520, converting the pixel coordinate of the target road identifier into a longitude and latitude coordinate corresponding to the pixel coordinate point.
Step S530, obtaining a relative position of the preset road mark based on the longitude and latitude coordinates corresponding to the pixel coordinate point determined by the vision SLAM, wherein the relative position of the preset road mark is obtained by pre-drawing, and the relative position of the preset road mark is a straight-line distance between two points.
The coordinates of the current click position are obtained and converted into correct pixel coordinates, and it can be understood that the conversion of the pixel coordinates into longitude and latitude coordinates requires a large fixed picture size.
Further, coordinate calculation is used for converting pixel coordinates into longitude and latitude coordinates, based on a machine vision SLAM technology, the longitude and latitude and the height position of the camera can be calculated according to the current longitude and latitude position of the vehicle and the position of the camera relative to the vehicle, and the longitude and latitude coordinates corresponding to a certain pixel on the image can be calculated according to internal parameters, a course angle, a pitch angle and a roll angle of the camera.
And step S540, determining the relative position of the road mark belonging to the same type as the preset road mark according to the relative position of the preset road mark, wherein the relative position of the preset road mark belonging to the same type of road mark comprises a plurality of road marks.
And finding out the lane line closest to the point according to the longitude and latitude of the point.
And step S550, obtaining the perpendicular line and the foot from the pixel coordinate point to the preset road mark according to the relative position of the longitude and latitude coordinate corresponding to the pixel coordinate point and the preset road mark.
And step S560, determining the relative position of the road sign which belongs to the same type as the preset road sign according to the vertical line and the vertical feet, and obtaining a straight line after the multiple vertical feet are connected.
All lane lines with the same lane line identification as the lane line can be found by calculating the foot of the point to the nearest lane line. Connecting the point and the drop foot point to form a straight line. That is, the filled graph, i.e., the road sign, can be obtained according to the distance from the point to the line.
Step S570, determining an intersection position with the preset road sign according to each of the relative positional relationships in a straight line obtained after the plurality of drop feet are connected.
Step S580, generating a target road identifier with fixed length and width based on the intersection position, where the target road identifier includes at least one of the following: straight arrow mark, triangle mark and diamond mark.
The straight line intersects all the lane lines, and the position corresponding to each lane is calculated according to the straight line.
And generating a rectangle with a fixed length, namely the length in the direction parallel to the lane lines, and the width of the rectangle with a distance of 15cm from the two side lines of the lane (usually, rendering requirements, otherwise, capping conditions occur) or other shapes which are consistent with the road marks according to the intersection positions.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 6, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the road mark generation device for the high-precision map on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
determining a video file to be processed according to track point information input in advance, wherein a key frame in the video file is used for determining an image containing a target road identifier;
converting the pixel coordinates of the target road identification into longitude and latitude coordinates corresponding to the pixel coordinate points;
obtaining the relative position of a preset road identifier and the relative position of a road identifier which belongs to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate points, wherein a relative position relation exists between each road identifier and the longitude and latitude coordinates of the pixel coordinate points;
and generating a plurality of road identifications according to the relative position relation for loading in the high-precision map.
The method performed by the road sign generation device for high-precision maps disclosed in the embodiment of fig. 2 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the road identifier generating apparatus for a high-precision map in fig. 2, and implement the functions of the road identifier generating apparatus for a high-precision map in the embodiment shown in fig. 2, which are not described herein again.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to perform the method performed by the road sign generation apparatus for high-precision maps in the embodiment shown in fig. 3, and are specifically configured to perform:
determining a video file to be processed according to track point information input in advance, wherein a key frame in the video file is used for determining an image containing a target road identifier;
converting the pixel coordinates of the target road identification into longitude and latitude coordinates corresponding to the pixel coordinate points;
obtaining the relative position of a preset road identifier and the relative position of a road identifier which belongs to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate points, wherein a relative position relation exists between each road identifier and the longitude and latitude coordinates of the pixel coordinate points;
and generating a plurality of road identifications according to the relative position relation for loading in the high-precision map.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (10)
1. A road sign generation method for a high-precision map, wherein the method comprises:
determining a video file to be processed according to track point information input in advance, wherein a key frame in the video file is used for determining an image containing a target road identifier;
converting the pixel coordinates of the target road identification into longitude and latitude coordinates corresponding to the pixel coordinate points;
obtaining the relative position of a preset road identifier and the relative position of a road identifier which belongs to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate points, wherein a relative position relation exists between each road identifier and the longitude and latitude coordinates of the pixel coordinate points;
and generating a plurality of road identifications according to the relative position relation for loading in the high-precision map.
2. The method of claim 1, wherein the obtaining of the relative position of a preset road identifier and the relative position of a road identifier belonging to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate point, wherein each road identifier has a relative position relationship with the longitude and latitude coordinates of the pixel coordinate point, comprises:
obtaining a relative position with a preset road identifier based on longitude and latitude coordinates corresponding to the pixel coordinate point determined by the vision SLAM, wherein the position of the preset road identifier is obtained by pre-drawing, and the relative position with the preset road identifier is a straight-line distance between the position and the preset road identifier;
and determining the relative position of the road mark belonging to the same type as the preset road mark according to the relative position of the road mark belonging to the same type as the preset road mark, wherein the relative position of the road mark belonging to the same type as the preset road mark comprises a plurality of relative positions.
3. The method as claimed in claim 2, wherein said determining the relative position of the road sign belonging to the same type as the preset road sign according to the relative position of the preset road sign comprises:
obtaining the perpendicular line and the foot from the pixel coordinate point to a preset road mark according to the relative position of the longitude and latitude coordinate corresponding to the pixel coordinate point and the preset road mark;
and determining the relative position of the road mark belonging to the same type as the preset road mark according to the vertical line and the drop feet, and obtaining a straight line after the drop feet are connected.
4. The method of claim 2, wherein said generating a plurality of said road signs according to said relative position relationship for loading in said high-precision map comprises:
determining the intersection position of the preset road mark according to each relative position relation in a straight line obtained after the plurality of the drop feet are connected;
generating a target road mark with fixed length and width based on the intersection position, wherein the target road mark at least comprises one of the following parts: straight arrow mark, triangle mark and diamond mark.
5. The method of claim 1, wherein the step of determining the image containing the target road sign as the key frame in the video file comprises:
and under the condition that the key frame in the video file contains the image of the target road mark, selecting the tail end part of the target road mark, wherein the tail end is the same as the indication direction of the preset road mark.
6. The method of claim 1, wherein the converting the pixel coordinate of the target road identifier into the longitude and latitude coordinate corresponding to the pixel coordinate point comprises:
determining longitude and latitude parameters and height positions of cameras on a collection vehicle, wherein the collection vehicle is used for recording track point information of different roads;
and calculating longitude and latitude coordinates corresponding to target pixels on the image corresponding to the key frame based on the internal parameter and the inclination parameter of the camera.
7. The method of claim 6, wherein the video file comprises a plurality, pre-entered by the harvesting vehicle.
8. A road sign generating apparatus for a high-precision map, wherein the apparatus comprises:
the determining module is used for determining a video file to be processed according to the track point information which is input in advance, and the key frame in the video file is used for determining an image containing a target road mark;
the coordinate conversion module is used for converting the pixel coordinate of the target road identifier into a longitude and latitude coordinate corresponding to the pixel coordinate point;
the position determining module is used for obtaining the relative position of a preset road identifier and the relative position of a road identifier which belongs to the same type as the preset road identifier according to the longitude and latitude coordinates corresponding to the pixel coordinate points, and a relative position relation is formed between each road identifier and the longitude and latitude coordinates of the pixel coordinate points;
and the lane line generating module is used for generating a plurality of road marks according to the relative position relation and loading the road marks in the high-precision map.
9. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 7.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-7.
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| CN202210312056.5A CN114677458A (en) | 2022-03-28 | 2022-03-28 | Road mark generation method and device for high-precision map, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117078800A (en) * | 2023-07-31 | 2023-11-17 | 零束科技有限公司 | Method and device for synthesizing ground identification based on BEV image |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117078800A (en) * | 2023-07-31 | 2023-11-17 | 零束科技有限公司 | Method and device for synthesizing ground identification based on BEV image |
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