CN114863025B - Three-dimensional lane line generation method and device, electronic device and computer readable medium - Google Patents
Three-dimensional lane line generation method and device, electronic device and computer readable medium Download PDFInfo
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Abstract
The embodiment of the disclosure discloses a three-dimensional lane line generation method, a three-dimensional lane line generation device, electronic equipment and a computer readable medium. One embodiment of the method comprises: determining a unit direction vector of a segmentation line corresponding to the target road image; generating a parting line equation set based on the parting line unit direction vector; carrying out lane line feature extraction on the target road image to obtain a lane line sampling point coordinate set; generating a tangent intersection point coordinate sequence based on the set of sampling point coordinate sets of the lane lines and the set of dividing line equations; performing projection processing on each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projection tangent intersection point coordinate, and obtaining a projection tangent intersection point coordinate sequence; fitting each projection tangent intersection point coordinate in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation; and generating a three-dimensional lane line equation set based on the lane line sampling point coordinate set and the three-dimensional curved surface equation. This embodiment may improve the accuracy of the generated three-dimensional lane lines.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of computers, in particular to a three-dimensional lane line generation method, a three-dimensional lane line generation device, electronic equipment and a computer readable medium.
Background
The generation of the three-dimensional lane lines has great significance to the field of automatic driving. At present, when generating a three-dimensional lane line equation, the following method is generally adopted: first, lane line feature points are extracted from continuous frame road images, and then the extracted lane line feature points are processed based on a triangularization method based on feature point matching or an inverse perspective transformation method based on straight line hypothesis to generate three-dimensional lane line information.
However, when the three-dimensional lane line generation is performed in the above manner, there are often technical problems as follows:
firstly, the requirement on the environment is high, a large number of key points need to be extracted from continuous frame road images and positioning information needs to be acquired, so that the calculation amount is large, and the efficiency of generating a three-dimensional lane line is reduced;
second, when the road is a curve with a small curvature, the influence of the curvature of the lane line on the generation of the three-dimensional lane line is not considered, resulting in low accuracy in generating the three-dimensional lane line.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose three-dimensional lane line generation methods, apparatuses, electronic devices, and computer readable media to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a method for generating a three-dimensional lane line, the method including: determining a unit direction vector of a segmentation line corresponding to the target road image based on the roll angle of the target camera; generating a segmentation line equation set based on the segmentation line unit direction vector, wherein the segmentation line equation in the segmentation line equation set is in an image coordinate system of the target road image; extracting the characteristics of the lane lines of the target road image to obtain a set of coordinate sets of sampling points of the lane lines; generating a tangent intersection point coordinate sequence based on the set of the sampling point coordinate sets of the lane lines and the equation set of the dividing line; projecting each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projected tangent intersection point coordinate, and obtaining a projected tangent intersection point coordinate sequence; fitting each projection tangent intersection point coordinate in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation; and generating a three-dimensional lane line equation set based on the lane line sampling point coordinate set and the three-dimensional curved surface equation.
In a second aspect, some embodiments of the present disclosure provide a three-dimensional lane line generation apparatus, including: a determination unit configured to determine a dividing line unit direction vector corresponding to the target road image based on the target camera roll angle; a first generating unit configured to generate a set of segment line equations based on the segment line unit direction vectors, wherein the segment line equations in the set of segment line equations are in an image coordinate system of the target road image; the characteristic extraction unit is configured to extract the lane line characteristics of the target road image to obtain a lane line sampling point coordinate set; a second generation unit configured to generate a tangent intersection point coordinate sequence based on the set of lane line sampling point coordinates and the set of dividing line equations; the projection processing unit is configured to perform projection processing on each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projection tangent intersection point coordinate, and a projection tangent intersection point coordinate sequence is obtained; the fitting processing unit is configured to perform fitting processing on each projection tangent intersection point coordinate in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation; and a third generating unit configured to generate a three-dimensional lane line equation set based on the set of lane line sampling point coordinates and the three-dimensional curved surface equation.
In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.
The above embodiments of the present disclosure have the following advantages: by the three-dimensional lane line generation method of some embodiments of the present disclosure, the efficiency of the generated three-dimensional lane line equation can be improved. Specifically, the reason for reducing the efficiency of generating the three-dimensional lane line equation is that: the requirement on the environment is high, a large number of key points need to be extracted from continuous frame road images and positioning information needs to be acquired, and therefore the calculation amount is large. Based on this, the three-dimensional lane line generation method of some embodiments of the present disclosure first determines a dividing line unit direction vector corresponding to the target road image based on the target camera roll angle. In consideration of the large number of key points extracted from the continuous frame road image and the large amount of calculation for acquiring the positioning information, it is possible to rely only on a single frame road image (e.g., a target road image) in generating the three-dimensional lane line information. Therefore, the data volume can be reduced, the occupation of computing resources is reduced, and the efficiency of generating the three-dimensional lane line is improved. And then, generating a parting line equation set based on the parting line unit direction vector, wherein the parting line equations in the parting line equation set are in the image coordinate system of the target road image. And then, carrying out lane line feature extraction on the target road image to obtain a lane line sampling point coordinate set. Therefore, a large number of key points for generating the three-dimensional lane line can be replaced by the set of the coordinate points of the sampling points of the lane line, and the three-dimensional lane line can be generated. And then, generating a tangent intersection point coordinate sequence based on the set of the lane line sampling point coordinates and the set of the dividing line equations. By generating a coordinate set of intersection points of the tangent lines, a curved surface equation can be conveniently constructed. And then, performing projection processing on each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projection tangent intersection point coordinate, so as to obtain a projection tangent intersection point coordinate sequence. And then, fitting each projection tangent intersection point coordinate in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation. Therefore, the three-dimensional lane line can be generated by utilizing the generated three-dimensional surface equation. And finally, generating a three-dimensional lane line equation set based on the lane line sampling point coordinate set and the three-dimensional curved surface equation. Therefore, the three-dimensional lane line is generated on the basis of the single-frame road image. Thus, the efficiency of generating the three-dimensional lane line can be improved.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
FIG. 1 is a flow diagram of some embodiments of a three-dimensional lane line generation method according to the present disclosure;
FIG. 2 is a schematic structural diagram of some embodiments of a three-dimensional lane line generating device according to the present disclosure;
FIG. 3 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 illustrates a flow 100 of some embodiments of a three-dimensional lane line generation method according to the present disclosure. The process 100 of the three-dimensional lane line generation method includes the following steps:
and step 101, determining a unit direction vector of a segmentation line corresponding to the target road image based on the roll angle of the target camera.
In some embodiments, an executive body of the three-dimensional lane marking generation method may determine a unit direction vector of a segmentation line corresponding to the target road image based on the target camera roll angle. The target road image may be a road image captured by a vehicle-mounted camera, which is acquired in advance in a wired or wireless manner. The target camera roll angle may be a roll angle at which the vehicle-mounted camera captures the target road image. The unit direction vector of the dividing line may include two data, and may be generated by: the product of the first data and the target camera roll angle cosine value is the same as the product of the second data and the target camera roll angle sine value. In addition, the dividing line unit direction vector may also satisfy the following condition: the 2 norm of the unit direction vector of the dividing line is equal to one. Here, the dividing line unit direction vector may be a unit direction vector in the image coordinate system of the above-described target road image.
And 102, generating a dividing line equation set based on the unit direction vector of the dividing line.
In some embodiments, the execution entity may generate a set of segment line equations based on the segment line unit direction vector. The parting line equations in the parting line equation set can be in the image coordinate system of the target road image. The equation of the division line may be constructed on the unit direction vector of the division line in the target road image at a preset longitudinal interval (for example, 10 pixels), so as to obtain a system of equations of the division line. The direction of each parting line equation is the same as the direction of the above-described parting line unit direction vector. The longitudinal direction may be a longitudinal axis direction of the image coordinate system.
And 103, extracting the lane line characteristics of the target road image to obtain a lane line sampling point coordinate set.
In some embodiments, the executing entity may perform lane line feature extraction on the target road image to obtain a set of lane line sampling point coordinate sets. The method comprises the steps of obtaining a target road image, extracting the lane line characteristic of the target road image through a preset characteristic extraction algorithm, and obtaining a lane line sampling point coordinate set.
By way of example, the above feature extraction algorithm may include, but is not limited to, at least one of: UFLD (Ultra Fast Structure-aware Lane Detection) algorithm, lanNet (Lane Detection network) model.
And 104, generating a tangent intersection point coordinate sequence based on the set of the sampling point coordinate sets of the lane lines and the set of the dividing line equations.
In some embodiments, the execution body may generate the tangent intersection point coordinate sequence in various ways based on the set of lane line sampling point coordinates and the set of dividing line equations.
In some optional implementations of some embodiments, the generating, by the executing body, a tangent intersection coordinate sequence based on the set of lane line sampling point coordinates and the set of dividing line equations may include:
the method comprises the following steps of firstly, fitting each lane line sampling point in each lane line sampling point coordinate set in the lane line sampling point coordinate set to generate an image lane line equation, and obtaining an image lane line equation set. And the image lane line equation in the image lane line equation set is in the image coordinate system of the target road image.
And secondly, determining tangent equations of the intersection points of the image lane line equations in the image lane line equation set and the segmentation line equations in the segmentation line equation set to obtain a tangent equation set. And the tangent equations in the tangent equation set are in the image coordinate system of the target road image.
And thirdly, determining the coordinates of the tangent intersection points among the tangent equations in the tangent equation set to obtain a coordinate sequence of the tangent intersection points to be determined. Wherein, the tangent equation can be solved simultaneously to obtain the intersection point coordinate. Here, the solution may be performed by a random sampling consistency algorithm, a least square algorithm, or the like. In addition, when generating the coordinates of the tangent intersections, a residual value corresponding to each tangent intersection may be generated.
In some optional implementation manners of some embodiments, the executing body generates a tangent intersection point coordinate sequence based on the set of lane line sampling point coordinates and the set of dividing line equations, and may further include the following steps:
firstly, residual values of the coordinates of the tangent intersection points to be determined and the coordinate sequence of the tangent intersection points to be determined are determined, and a residual value set is obtained. The residual value of the tangent intersection point coordinate to be determined may be generated simultaneously with the tangent intersection point coordinate to be determined.
And secondly, removing the coordinates of the tangent intersection points to be determined, of which the residual values in the corresponding residual value set in the coordinate sequence of the tangent intersection points to be determined are greater than a preset residual threshold value, so as to obtain the coordinate sequence of the tangent intersection points. The residual value is larger than the preset residual threshold value, so that the invalid coordinates of the tangent intersection points to be determined corresponding to the residual value can be represented. Therefore, the coordinates of the tangent intersection points to be determined can be removed, and a tangent intersection point coordinate sequence is obtained.
And 105, performing projection processing on each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projection tangent intersection point coordinate, so as to obtain a projection tangent intersection point coordinate sequence.
In some embodiments, the executing body may perform projection processing on each tangent intersection coordinate in the tangent intersection coordinate sequence to generate a projection tangent intersection coordinate, and obtain a projection tangent intersection coordinate sequence.
In some optional implementations of some embodiments, the executing body performs projection processing on each tangent intersection coordinate in the tangent intersection coordinate sequence to generate a projected tangent intersection coordinate, and may include:
and determining projection tangent intersection point coordinates corresponding to the tangent intersection point coordinates based on a preset camera internal reference matrix. First, the ground three-dimensional coordinates of the vehicle-mounted camera at the current moment can be acquired. The three-dimensional coordinates of the ground of the camera may be three-dimensional coordinates of the ground just below the vehicle-mounted camera at the current time. Then, each parting line equation in the parting line equation set can be back-projected to the vehicle coordinate system to obtain a back-projected parting line plane equation set. Finally, the projected tangent intersection coordinates corresponding to the above-described tangent intersection coordinates may be determined by the following formula:
wherein Q represents a unit direction vector of the back projection ray of the tangent intersection point coordinate. λ denotes a first balancing coefficient for balancing the third data in the vector of results on both sides of the equal sign. K denotes the camera internal reference matrix described above. K -1 An inverse matrix of the camera internal reference matrix is represented. q represents the coordinates of the intersection of the above-mentioned tangents. qx represents the abscissa value of the above-mentioned tangent intersection coordinates. qy represents the ordinate of the tangent intersection coordinate. s.t. represents a constraint. | | non-woven hair 2 Represents a 2-way expression. s represents the coordinates of the intersection of the projected tangents. s' represents the last projection tangent intersection coordinate adjacent to the projection tangent intersection coordinate in the projection tangent intersection coordinate sequence. Here, if the projected tangent intersection point coordinate is a first projected tangent intersection point coordinate in the projected tangent intersection point coordinate series, the s' may be the camera ground three-dimensional coordinate.
The projection tangent intersection point coordinate may be an intersection point of a ray of a unit direction vector of the back projection ray and the back projection dividing line plane equation, the projection tangent intersection point coordinate being a starting point of the previous projection tangent intersection point coordinate. The back projection parting line plane equation may be a back projection parting line plane equation corresponding to the coordinates of the tangent intersection point in the back projection parting line plane equation set.
γ represents a distance value between the intersection coordinates of the projected tangents and the intersection coordinates of the previous projected tangents. β represents a second balancing coefficient. u represents the abscissa value of a point on the dividing line equation in the image coordinate system corresponding to the above-described tangent intersection coordinates. v represents a vertical coordinate value of a point on the dividing line equation in the image coordinate system corresponding to the tangent intersection coordinate. d is a radical of 1 And an abscissa coefficient representing a dividing line equation in the image coordinate system corresponding to the above-described tangent intersection coordinates. d 2 Representing the image coordinate corresponding to the tangent intersectionThe ordinate coefficients of the dividing line equations in the system. d 3 And a constant term representing a dividing line equation in the image coordinate system corresponding to the tangent intersection coordinate.
And 106, fitting the coordinates of the intersection points of the projection tangents in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation.
In some embodiments, the executing body may perform fitting processing on each projection tangent intersection point coordinate in the projection tangent intersection point coordinate series to generate a three-dimensional curved surface equation. Wherein the three-dimensional surface equation may be a surface equation in a vehicle coordinate system of the current vehicle.
In some optional implementations of some embodiments, the performing body performs fitting processing on each projection tangent intersection coordinate in the projection tangent intersection coordinate sequence to generate a three-dimensional surface equation, and may include:
and step one, fitting the coordinates of the intersection points of the projection tangents in the projection tangent intersection point coordinate sequence to obtain a three-dimensional fitting curve equation. And the three-dimensional fitting curve equation is in the vehicle coordinate system.
And secondly, extending the three-dimensional fitting curve equation along the direction of a horizontal axis in the vehicle coordinate system to obtain a three-dimensional curved surface equation. The extension processing may be performed by using a curve fitting algorithm, and taking a curve where the three-dimensional fitting curve equation is located as an initial line, and extending to two sides of the curve along the direction of the horizontal axis. Thus, a three-dimensional surface equation can be obtained.
As an example, the curve fitting algorithm may be: CRS (Central Catmull-Rom Spline, curve fitting) algorithm.
And 107, generating a three-dimensional lane line equation set based on the lane line sampling point coordinate set and the three-dimensional curved surface equation.
In some embodiments, the execution subject may generate the three-dimensional lane line equation set in various ways based on the set of lane line sampling point coordinates and the three-dimensional curved surface equation.
In some optional implementations of some embodiments, the generating a three-dimensional lane line equation set by the executing body based on the set of lane line sampling point coordinates and the three-dimensional curved surface equation may include:
the method comprises the following steps of firstly, projecting the coordinates of each lane line characteristic point in each lane line characteristic point coordinate set in the lane line sampling point coordinate set to a curved surface where the three-dimensional curved surface equation is located to generate a target three-dimensional lane line coordinate set, and obtaining a target three-dimensional lane line coordinate set.
And secondly, fitting each target three-dimensional lane line coordinate in each target three-dimensional lane line coordinate set in the target three-dimensional lane line coordinate set to generate a three-dimensional lane line equation, so as to obtain a three-dimensional lane line equation set.
The above formula and its related contents are an inventive point of the embodiments of the present disclosure, and solve the technical problem mentioned in the background art two, "when the road is a curve with a small curvature, the influence of the curvature of the lane line on the generation of the three-dimensional lane line is not considered, and thus, the accuracy of generating the three-dimensional lane line is low". Factors that lead to low accuracy in generating three-dimensional lane lines tend to be as follows: when the road is a curve having a small curvature, the influence of the curvature of the lane line on the generation of the three-dimensional lane line is not considered. If the above factors are solved, the accuracy of the generated three-dimensional lane line can be improved. Further, driving safety is improved. In order to achieve the effect, firstly, each tangent intersection point coordinate in the tangent intersection point coordinate sequence is projected to a vehicle coordinate system through the formula, and a projected tangent intersection point coordinate sequence is obtained. Then, through the fitting process, a three-dimensional curved surface equation can be generated to be used for representing the curved surface of the road where the current vehicle is located. Thus, the target three-dimensional lane line coordinates can be obtained. In this way, it can be used to generate three-dimensional lane line equations. In addition, a tangent intersection point coordinate sequence is generated by generating a tangent equation. The method can effectively avoid the influence of the road curvature on generating the three-dimensional lane line correspondingly. And the unit direction vector of the back projection ray of the tangent intersection point coordinate is also introduced into the formula, so that the curvature is further eliminated, and the influence of projecting the lane line sampling point into a vehicle coordinate system is further eliminated. Therefore, the accuracy of the target three-dimensional lane line coordinate is improved. And because a three-dimensional curved surface equation is generated, the coordinates of the sampling points of the lane lines can be directly projected to the plane of the three-dimensional curved surface equation. Thus, the accuracy of the generated set of target three-dimensional lane line coordinates can be improved. Further, the accuracy of the three-dimensional lane line equation set can be improved.
Optionally, the execution main body may further send each three-dimensional lane line equation in the three-dimensional lane line equation set to a display terminal, so as to display the three-dimensional lane line.
The above embodiments of the present disclosure have the following advantages: by the three-dimensional lane line generation method of some embodiments of the present disclosure, the efficiency of the generated three-dimensional lane line equation can be improved. Specifically, the reason for reducing the efficiency of generating the three-dimensional lane line equation is that: the requirement on the environment is high, a large number of key points need to be extracted from continuous frame road images and positioning information needs to be acquired, and therefore the calculation amount is large. Based on this, the three-dimensional lane line generation method of some embodiments of the present disclosure first determines a dividing line unit direction vector corresponding to the target road image based on the target camera roll angle. In consideration of the large number of key points extracted from the continuous frame road image and the large amount of calculation for acquiring the positioning information, it is possible to rely only on a single frame road image (e.g., a target road image) in generating the three-dimensional lane line information. Therefore, the data volume can be reduced, the occupation of computing resources is reduced, and the efficiency of generating the three-dimensional lane line is improved. And then, generating a parting line equation set based on the parting line unit direction vector, wherein the parting line equations in the parting line equation set are in the image coordinate system of the target road image. And then, carrying out lane line feature extraction on the target road image to obtain a lane line sampling point coordinate set. Therefore, a large number of key points for generating the three-dimensional lane line can be replaced by the set of the coordinate points of the sampling points of the lane line, and the three-dimensional lane line can be generated. And then, generating a tangent intersection point coordinate sequence based on the set of the lane line sampling point coordinates and the set of the dividing line equations. By generating a coordinate set of intersection points of the tangent lines, a curved surface equation can be conveniently constructed. And then, performing projection processing on each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projection tangent intersection point coordinate, so as to obtain a projection tangent intersection point coordinate sequence. And then, fitting each projection tangent intersection point coordinate in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation. Therefore, the three-dimensional lane line can be generated by utilizing the generated three-dimensional surface equation. And finally, generating a three-dimensional lane line equation set based on the lane line sampling point coordinate set and the three-dimensional curved surface equation. Therefore, the three-dimensional lane line is generated on the basis of the single-frame road image. Thus, the efficiency of generating the three-dimensional lane line can be improved.
With further reference to fig. 2, as an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a three-dimensional lane line generation apparatus, which correspond to those shown in fig. 1, and which may be applied in various electronic devices in particular.
As shown in fig. 2, the three-dimensional lane line generation apparatus 200 of some embodiments includes: a determination unit 201, a first generation unit 202, a feature extraction unit 203, a second generation unit 204, a projection processing unit 205, a fitting processing unit 206, and a third generation unit 207. The determining unit 201 is configured to determine a dividing line unit direction vector corresponding to the target road image based on the target camera roll angle; a first generating unit 202 configured to generate a set of segment line equations based on the unit direction vectors of the segment lines, wherein the segment line equations in the set of segment line equations are in an image coordinate system of the target road image; a feature extraction unit 203 configured to perform lane line feature extraction on the target road image to obtain a set of lane line sampling point coordinate sets; a second generating unit 204 configured to generate a tangent intersection point coordinate sequence based on the set of lane line sampling point coordinates and the set of dividing line equations; a projection processing unit 205 configured to perform projection processing on each tangent intersection coordinate in the tangent intersection coordinate sequence to generate a projection tangent intersection coordinate, and obtain a projection tangent intersection coordinate sequence; a fitting processing unit 206 configured to perform fitting processing on each projection tangent intersection coordinate in the projection tangent intersection coordinate sequence to generate a three-dimensional curved surface equation; a third generating unit 207 configured to generate a three-dimensional lane line equation set based on the set of lane line sampling point coordinates and the three-dimensional curved surface equation.
It will be understood that the units described in the apparatus 200 correspond to the various steps in the method described with reference to fig. 1. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 200 and the units included therein, and are not described herein again.
Referring now to FIG. 3, a block diagram of an electronic device 300 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 3, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM303, various programs and data necessary for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM 302, and the RAM303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
Generally, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, or the like; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 308 including, for example, magnetic tape, hard disk, etc.; and a communication device 309. The communication means 309 may allow the electronic device 300 to communicate wirelessly or by wire with other devices to exchange data. While fig. 3 illustrates an electronic device 300 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 3 may represent one device or may represent multiple devices, as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 309, or installed from the storage device 308, or installed from the ROM 302. The computer program, when executed by the processing apparatus 301, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the apparatus; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining a dividing line unit direction vector corresponding to the target road image based on the target camera roll angle; generating a segmentation line equation set based on the segmentation line unit direction vector, wherein the segmentation line equation in the segmentation line equation set is in an image coordinate system of the target road image; extracting the characteristics of the lane lines of the target road image to obtain a set of coordinate sets of sampling points of the lane lines; generating a tangent intersection point coordinate sequence based on the set of lane line sampling point coordinates and the set of dividing line equations; projecting each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projected tangent intersection point coordinate, and obtaining a projected tangent intersection point coordinate sequence; fitting each projection tangent intersection point coordinate in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation; and generating a three-dimensional lane line equation set based on the lane line sampling point coordinate set and the three-dimensional curved surface equation.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes a determination unit, a first generation unit, a feature extraction unit, a second generation unit, a projection processing unit, a fitting processing unit, and a third generation unit. Here, the names of these cells do not constitute a limitation to the cell itself in some cases, and for example, the determination cell may also be described as a "cell that determines the unit direction vector of the division line corresponding to the target road image".
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (8)
1. A three-dimensional lane line generation method includes:
determining a dividing line unit direction vector corresponding to the target road image based on the target camera roll angle;
generating a segmentation line equation set based on the segmentation line unit direction vector, wherein the segmentation line equation in the segmentation line equation set is in an image coordinate system of the target road image;
extracting the characteristics of the lane lines of the target road image to obtain a set of coordinate sets of sampling points of the lane lines;
generating a tangent intersection point coordinate sequence based on the lane line sampling point coordinate set and the partition line equation set;
projecting each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projected tangent intersection point coordinate, and obtaining a projected tangent intersection point coordinate sequence;
fitting each projection tangent intersection point coordinate in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation;
generating a three-dimensional lane line equation set based on the lane line sampling point coordinate set and the three-dimensional curved surface equation;
generating a tangent intersection point coordinate sequence based on the set of lane line sampling point coordinates and the set of dividing line equations, wherein the generating comprises:
fitting each lane line sampling point in each lane line sampling point coordinate set in the lane line sampling point coordinate set to generate an image lane line equation to obtain an image lane line equation set;
determining tangent equations of intersection points of all image lane line equations in the image lane line equation set and all partition line equations in the partition line equation set to obtain a tangent equation set;
determining the tangent intersection point coordinates among tangent equations in the tangent equation set to obtain a tangent intersection point coordinate sequence to be determined;
generating a tangent intersection point coordinate sequence based on the set of lane line sampling point coordinates and the set of dividing line equations, and further comprising:
determining a residual value of each to-be-determined tangent intersection point coordinate of the to-be-determined tangent intersection point coordinate sequence to obtain a residual value set;
and removing the coordinates of the tangent intersection points to be determined, wherein the residual values in the corresponding residual value set in the coordinate sequence of the tangent intersection points to be determined are greater than a preset residual threshold value, so as to obtain the coordinate sequence of the tangent intersection points.
2. The method of claim 1, wherein the method further comprises:
and sending each three-dimensional lane line equation in the three-dimensional lane line equation set to a display terminal for displaying the three-dimensional lane lines.
3. The method of claim 1, wherein the projecting each tangent intersection coordinate in the sequence of tangent intersection coordinates to generate a projected tangent intersection coordinate comprises:
and determining projection tangent intersection point coordinates corresponding to the tangent intersection point coordinates based on a preset camera internal reference matrix.
4. The method of claim 3, wherein the fitting each of the series of projected tangent intersection coordinates to generate a three-dimensional surface equation comprises:
fitting the coordinates of the intersection points of the projection tangents in the projection tangents intersection point coordinate sequence to obtain a three-dimensional fitting curve equation, wherein the three-dimensional fitting curve equation is in a vehicle coordinate system;
and in the vehicle coordinate system, extending the three-dimensional fitting curve equation along the direction of a horizontal axis to obtain a three-dimensional curved surface equation.
5. The method of claim 4, wherein generating a set of three-dimensional lane line equations based on the set of lane line sample point coordinate sets and the three-dimensional surface equations comprises:
projecting the coordinates of each lane line characteristic point in each lane line characteristic point coordinate set in the lane line sampling point coordinate set to a curved surface where the three-dimensional curved surface equation is located to generate a target three-dimensional lane line coordinate set, so as to obtain a target three-dimensional lane line coordinate set;
and fitting each target three-dimensional lane line coordinate in each target three-dimensional lane line coordinate set in the target three-dimensional lane line coordinate set to generate a three-dimensional lane line equation, so as to obtain a three-dimensional lane line equation set.
6. A three-dimensional lane line generation apparatus comprising:
a determination unit configured to determine a dividing line unit direction vector corresponding to the target road image based on the target camera roll angle;
a first generating unit configured to generate a set of segment line equations based on the segment line unit direction vectors, wherein segment line equations in the set of segment line equations are in an image coordinate system of the target road image;
the characteristic extraction unit is configured to extract the lane line characteristics of the target road image to obtain a lane line sampling point coordinate set;
a second generation unit configured to generate a tangent intersection point coordinate sequence based on the set of lane line sampling point coordinate sets and the set of dividing line equations;
the projection processing unit is configured to perform projection processing on each tangent intersection point coordinate in the tangent intersection point coordinate sequence to generate a projection tangent intersection point coordinate, so as to obtain a projection tangent intersection point coordinate sequence;
the fitting processing unit is configured to perform fitting processing on each projection tangent intersection point coordinate in the projection tangent intersection point coordinate sequence to generate a three-dimensional curved surface equation;
a third generating unit configured to generate a set of three-dimensional lane line equations based on the set of lane line sampling point coordinates and the three-dimensional curved surface equation;
generating a tangent intersection point coordinate sequence based on the set of lane line sampling point coordinates and the set of dividing line equations, wherein the generating comprises:
fitting each lane line sampling point in each lane line sampling point coordinate set in the lane line sampling point coordinate set to generate an image lane line equation to obtain an image lane line equation set;
determining tangent equations of intersection points of all image lane line equations in the image lane line equation set and all partition line equations in the partition line equation set to obtain a tangent equation set;
determining the tangent intersection point coordinates among tangent equations in the tangent equation set to obtain a tangent intersection point coordinate sequence to be determined;
wherein, the generating of the tangent intersection point coordinate sequence based on the set of the sampling point coordinate sets of the lane lines and the set of the dividing line equations further comprises:
determining a residual value of each to-be-determined tangent intersection point coordinate of the to-be-determined tangent intersection point coordinate sequence to obtain a residual value set;
and removing the coordinates of the tangent intersection points to be determined, wherein the residual values in the corresponding residual value set in the coordinate sequence of the tangent intersection points to be determined are greater than a preset residual threshold value, so as to obtain the coordinate sequence of the tangent intersection points.
7. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
8. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-5.
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