CN117824678A - Landmark drawing method, landmark drawing device, electronic equipment and computer readable storage medium - Google Patents

Landmark drawing method, landmark drawing device, electronic equipment and computer readable storage medium Download PDF

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Publication number
CN117824678A
CN117824678A CN202410014441.0A CN202410014441A CN117824678A CN 117824678 A CN117824678 A CN 117824678A CN 202410014441 A CN202410014441 A CN 202410014441A CN 117824678 A CN117824678 A CN 117824678A
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drawn
landmark
target
determining
landmarks
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伍越
万如
贾双成
王录超
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Zhidao Network Technology Beijing Co Ltd
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Zhidao Network Technology Beijing Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3811—Point data, e.g. Point of Interest [POI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/70—Labelling scene content, e.g. deriving syntactic or semantic representations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The application relates to a landmark drawing method, a landmark drawing device, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring a track point of a collected vehicle running on a target road and a target video collected by the collected vehicle at the track point; performing semantic segmentation on each frame of target image in the target video by using a semantic segmentation network to obtain a pixel point of a to-be-drawn landmark in the target image; calculating pixel points of the landmarks to be drawn in the target images of the multiple continuous frames, and determining the target positions of the landmarks to be drawn in the high-precision map; and drawing the landmark to be drawn at the target position in the high-precision map, and assigning attributes to the landmark to be drawn. According to the method and the device for drawing the landmark, the drawing of the landmark to be drawn in the high-precision map can be automatically completed, the drawing position is accurate, the efficiency and the accuracy of landmark drawing are improved, the precision of the high-precision map is improved, and the safety of automatic driving is guaranteed.

Description

Landmark drawing method, landmark drawing device, electronic equipment and computer readable storage medium
Technical Field
The present disclosure relates to the field of high-precision map technologies, and in particular, to a landmark drawing method, a landmark drawing device, an electronic device, and a computer readable storage medium.
Background
With development of automatic driving technology, the degree of automation of an automatic driving vehicle is higher and higher, and for safety, a high-precision map needs to be embedded in an automatic driving system and displayed at a terminal.
In the related technical scheme, when the high-precision map is manufactured, landmarks are required to be drawn in the high-precision map, typically, road surface videos acquired by a camera and camera parameters calibrated in advance are used for manually clicking the edges of the landmarks, and positions corresponding to the landmarks are obtained through settlement to draw the landmarks.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a landmark drawing method, a landmark drawing device, an electronic device and a computer readable storage medium, which can automatically and accurately draw landmarks.
The first aspect of the present application provides a landmark drawing method, including:
acquiring a track point of a collected vehicle running on a target road and a target video which is collected by the collected vehicle at the track point and contains a landmark to be drawn;
performing semantic segmentation on a target image containing a landmark to be drawn in each frame in the target video by using a semantic segmentation network to obtain pixel points of the landmark to be drawn in the target image;
calculating pixel points of the landmarks to be drawn in the target images of the multiple continuous frames, and determining the target positions of the landmarks to be drawn in the high-precision map;
and drawing the landmark to be drawn at the target position in the high-precision map, and assigning attributes to the landmark to be drawn.
As a possible implementation manner of the present application, in this implementation manner, the performing semantic segmentation on each frame of target image in the target video using the semantic segmentation network to obtain a landmark pixel point to be drawn in the target image includes:
and carrying out semantic segmentation on each frame of target image in the target video by adopting a unet network model to obtain the pixel points of the to-be-drawn marks in each frame of target image.
As a possible implementation manner of the present application, in this implementation manner, the calculating the pixel point of the landmark to be drawn in the target images of the multiple continuous frames, before determining the target position of the landmark to be drawn in the high-precision map, includes:
calculating the area of a communication area of the pixel points of the to-be-drawn landmarks in each target image;
and deleting the target image with the area smaller than a preset area threshold value.
As a possible implementation manner of the present application, in this implementation manner, the calculating the pixel points of the landmark to be drawn in the target images of the multiple continuous frames, and determining the target position of the landmark to be drawn in the high-precision map includes:
aiming at the same target landmark to be drawn, resolving pixels of the landmarks to be drawn in a plurality of continuous frame target images to obtain a plurality of candidate landmarks to be drawn;
screening the pixel points in the plurality of candidate landmarks to be drawn by adopting a non-maximum suppression algorithm, and determining target pixel points for forming the target landmark to be drawn;
and determining a positioning point of the target landmark to be drawn based on the target pixel point, and determining a target position of the target landmark to be drawn in the high-precision map based on the positioning point.
As a possible implementation manner of the present application, in this implementation manner, before the drawing of the landmark to be drawn at the target position in the high-precision map, the method further includes:
determining a target lane and a target lane line corresponding to the to-be-drawn landmark;
and adjusting the target pixel point by adopting an optimization equation to ensure that the landmark to be drawn is parallel to the target lane line, the landmark to be drawn is in a preset central range of the target lane, and the error of the initial solution position of the target position and the landmark to be drawn is in a preset range.
As a possible implementation manner of the present application, in this implementation manner, the calculating the landmark pixel points to be drawn in the multiple continuous frame target images includes:
and determining the area value of the communication area of the pixel point of the to-be-drawn landmark, and filtering the target image corresponding to the pixel point of the to-be-drawn landmark, wherein the area value of the target image is smaller than a preset area threshold value.
As a possible implementation manner of the present application, in this implementation manner, the attribute marking the to-be-drawn landmark includes:
and assigning attribute information of the target lane line for the landmark to be drawn.
A second aspect of the present application provides a landmark drawing apparatus, including:
the image acquisition module is used for acquiring track points of the collected vehicle running on the target road and target videos, which are collected by the collected vehicle at the track points and contain the to-be-drawn landmarks;
the pixel point acquisition module is used for carrying out semantic segmentation on a target image containing a landmark to be drawn in each frame in the target video by using a semantic segmentation network to obtain a landmark to be drawn pixel point in the target image;
the position determining module is used for resolving pixel points of the to-be-drawn landmarks in the target images of the multiple continuous frames and determining the target positions of the to-be-drawn landmarks in the high-precision map;
and the drawing module is used for drawing the landmark to be drawn at the target position in the high-precision map and assigning attributes to the landmark to be drawn.
A third aspect of the present application provides an electronic device, comprising:
a processor; and
a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a computer readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform a method as described above.
According to the method and the device for achieving the automatic driving, the target video collected by the collecting vehicle on the target road is obtained, semantic segmentation is carried out on the target video, each pixel of the landmark to be drawn is obtained, then settlement is carried out on the pixel of the landmark to be drawn, the target position of the landmark to be drawn in the high-precision map is determined, the landmark to be drawn is drawn at the target position, the landmark to be drawn is endowed with the attribute, drawing of the landmark to be drawn in the high-precision map can be automatically completed, the drawing position is accurate, the landmark drawing efficiency and accuracy are improved, the high-precision map precision is improved, and the automatic driving safety is guaranteed.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flow chart of a landmark drawing method according to an embodiment of the present application;
FIG. 2 is a flowchart of a target image screening method according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of a method for determining a target location according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an anchor point shown in an embodiment of the present application;
FIG. 5 is a schematic flow chart of a location optimization method according to an embodiment of the present application;
fig. 6 is a flowchart of a target lane determining method according to an embodiment of the present application;
fig. 7 is a schematic drawing of a landmark to be drawn according to an embodiment of the present application;
fig. 8 is a schematic structural view of a landmark drawing device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
With the development of automatic driving technology, the degree of automation of an automatic driving vehicle is higher and higher, and high-precision maps with higher precision are required to be adopted for navigation due to safety. In the related technical scheme, when the high-precision map is manufactured, landmarks are required to be drawn in the high-precision map, typically, road surface videos acquired by a camera and camera parameters calibrated in advance are used for manually clicking the edges of the landmarks, and positions corresponding to the landmarks are obtained through settlement to draw the landmarks.
In view of the above problems, embodiments of the present application provide a landmark drawing method, apparatus, electronic device, and computer-readable storage medium, which can automatically and accurately draw landmarks.
Fig. 1 is a schematic flow chart of a landmark drawing method according to an embodiment of the present application.
Referring to fig. 1, the landmark drawing method provided in the embodiment of the present application includes:
step S101, track points of the collected vehicles running on the target road and target videos, which are collected by the collected vehicles at the track points and contain the to-be-drawn landmarks, are obtained.
In this embodiment of the present application, the target video refers to a video including a landmark to be drawn, the collecting vehicle refers to a vehicle for collecting the target video, the collecting vehicle is loaded with a video collecting device, such as a camera, the target road refers to a road on which a landmark needs to be drawn in a high-precision map, and the landmark to be drawn may be a road surface landmark, such as an arrow, a diamond, a crosswalk, and the like.
In the embodiment of the application, based on a target road corresponding to a to-be-drawn landmark to be drawn, a vehicle is collected to run on the target road, a target video is collected, meanwhile, track points of running of the collected vehicle are recorded, and the track points correspond to the target video. Specifically, track points of the vehicle running on the target road are recorded and collected, and the track points are corresponding to the corresponding track points for each frame of target video, so that the position of the landmark to be drawn in the target road can be conveniently determined based on the track points.
Step S102, performing semantic segmentation on a target image containing a landmark to be drawn in each frame in the target video by using a semantic segmentation network to obtain a landmark to be drawn pixel point in the target image.
In the embodiment of the application, after the target video is acquired, semantic segmentation is performed on each frame of target image in the target video by adopting a semantic segmentation network, so as to obtain the pixel points of the to-be-painted landmarks in each frame of target image. In the embodiment of the application, the semantic segmentation network may adopt a unet network model, and the unet network model is adopted to perform semantic segmentation on each frame of target image in the target video, so as to obtain the pixel point of the landmark to be drawn in each frame of target image.
As a possible implementation manner of the present application, in this implementation manner, as shown in fig. 2, the calculating the pixel point of the landmark to be drawn in the target images of multiple continuous frames, before determining the target position of the landmark to be drawn in the high-precision map, includes:
step S201, calculating the area of a communication area of the pixel points of the to-be-drawn landmarks in each target image;
step S202, deleting the target image with the area smaller than a preset area threshold.
In the embodiment of the application, before resolving the pixel points of the landmark to be painted, screening is needed to be carried out on each frame of target image, and the target images which do not meet the conditions are deleted. Whether the landmark to be drawn meets the condition can be judged according to the area of the pixel point communication area of the target image, and when the vehicle is used for collecting the target video, the incomplete image of the landmark to be drawn in the target image can be caused by other vehicles or obstacles on the road surface, and therefore the incomplete target image needs to be deleted. Alternatively, the area of the connected region of the pixel point of the landmark to be drawn in each frame of the target image may be calculated, for example, the landmark to be drawn is an arrow, the connected region of the pixel point of the whole arrow should be complete, and when the arrow in a certain frame of the target image is incomplete, the area of the connected region of the pixel point should be smaller than the area of the connected region of the corresponding pixel point when the arrow is complete. When screening the target images, deleting the target images with the areas smaller than the preset area threshold by calculating the areas of the connected areas of the pixels of the to-be-drawn landmarks in each frame of target images, so as to screen the target images.
And step S103, resolving pixel points of the to-be-drawn landmarks in the target images of the multiple continuous frames, and determining target positions of the to-be-drawn landmarks in the high-precision map.
In this embodiment of the present application, the position of a landmark to be drawn in the high-precision map may be determined by one frame of target image, and due to an error of the image acquisition device, a behavior error of the acquisition vehicle, or an error in the image resolving process, a deviation exists in the position of the landmark to be drawn in the high-precision map determined by one frame of target image.
In this embodiment of the present application, as shown in fig. 3, the calculating the pixel point of the landmark to be drawn in the target images of the multiple continuous frames, and determining the target position of the landmark to be drawn in the high-precision map includes:
step S301, aiming at the same target landmark to be drawn, calculating pixel points of the landmarks to be drawn in a plurality of continuous frame target images to obtain a plurality of candidate landmarks to be drawn.
In this embodiment of the present application, for the same target landmark to be painted, for example, a road arrow, a plurality of continuous frame target images collected by the collection vehicle for the target landmark to be painted are obtained, and each frame of target image is settled to obtain a plurality of candidate landmarks to be painted, and it can be understood that each candidate landmark to be painted is formed by pixels of the landmark to be painted in the corresponding target image.
Step S302, adopting a non-maximum suppression algorithm to screen pixel points in the plurality of candidate landmarks to be drawn, and determining target pixel points for forming the target landmarks to be drawn.
In the embodiment of the application, after determining a plurality of candidate landmarks to be drawn, a non-maximum suppression algorithm is adopted to determine a target pixel point for forming a target landmark to be drawn based on the pixel point of each candidate landmark to be drawn. For example, for a target pixel point used for forming the target landmark to be drawn, among the pixel points of the plurality of candidate landmarks to be drawn, the pixel points aiming at the same position of the landmark to be drawn are respectively selected, and among the pixel points, a non-maximum suppression algorithm is adopted to determine the pixel point closest to the actual position of the target landmark to be drawn as the target pixel point.
Step S303, determining a positioning point of the target landmark to be drawn based on the target pixel point, and determining a target position of the target landmark to be drawn in the high-precision map based on the positioning point.
In this embodiment of the present application, after determining the target pixel point of the target landmark to be drawn, the positioning point of the target landmark to be drawn is determined based on the target pixel point, alternatively, the positioning point of the target landmark to be drawn may be four vertices of a rectangle that can cover the pixel point of the target landmark to be drawn, for example, when the target landmark to be drawn is a pavement arrow as shown in fig. 4, the positioning point of the target landmark to be drawn may be four vertices A, B, C, D of the rectangle that covers the pavement arrow, where the middle arrow is the pavement arrow, the dashed line box at the periphery of the arrow is the positioning box, alternatively, the positioning point of the target landmark to be drawn may be determined according to other manners, which is not limited in this application.
In this embodiment of the present application, after determining the positioning point of the target landmark to be drawn, determining, based on the positioning point, the target position of the target landmark to be drawn in the high-precision map, specifically, as shown in fig. 5, before drawing the landmark to be drawn at the target position in the high-precision map, the method further includes:
step S501, determining a target lane and a target lane line corresponding to the to-be-drawn landmark;
step S502, adjusting the target pixel point by using an optimization equation to ensure that the landmark to be drawn is parallel to the target lane line, the landmark to be drawn is within a preset central range in the target lane, and an error between the target position and an initial solution position of the landmark to be drawn is within a preset range.
In the embodiment of the application, after the positioning point of the target landmark to be drawn is determined, the specific position of the target landmark to be drawn on the target road needs to be determined first, wherein the specific position can be determined by collecting the track point of the vehicle when the landmark map to be drawn is collected. Specifically, as shown in fig. 6, determining the target lane and the target lane line corresponding to the to-be-drawn landmark includes:
step S601, determining the geographic position of the acquisition vehicle based on the track point of the acquisition vehicle when the target image is acquired;
step S602, determining a target lane and a target lane line corresponding to the landmark to be drawn based on the geographic position.
In the embodiment of the application, when determining the target position of the target landmark to be drawn in the high-precision map, determining a target image corresponding to the target landmark to be drawn, wherein the target image has multiple frames, determining the track point where the collected vehicle is located when the multiple frames of target images are collected, determining the geographic position of the vehicle in the high-precision map based on the track point, determining a lane where the vehicle is located as a target lane, and taking a lane line on the right of the target lane as a target lane line.
In the embodiment of the application, after a target lane and a target lane line corresponding to a target landmark to be drawn are determined, when the specific position of the target landmark to be drawn is determined, position adjustment is performed on a target pixel point of the target landmark to be drawn by constructing an optimization equation, wherein when the optimization equation is reconstructed, the constraint condition of the optimization equation is that the landmark to be drawn is ensured to be parallel to the target lane line, the landmark to be drawn is in a preset center range in the target lane, and an error of an initial solution position of the target position and the landmark to be drawn is in a preset range. It can be understood that when the position of the target landmark to be drawn is adjusted, taking the target landmark to be drawn as an example of a pavement arrow, and the positioning points of the target landmark to be drawn are four vertexes of a rectangle, when the position of the target landmark to be drawn is adjusted, as shown in fig. 7, black line segments on two sides of the drawing are lane lines of a road, the rectangular frame should be ensured to be parallel to the target lane lines, and the rectangular frame should be at the center position of the target lane, specifically, the distance between the rectangular frame and two lane lines of the target lane should be ensured to be the same, and meanwhile, the error between the final position of the rectangular frame and the initial resolving position which is initially determined should be within a preset range, and optionally, the initial resolving position refers to the position of the pixel point which is directly obtained through the resolving of the target image. And taking the position meeting the constraint condition as the target position of the target to-be-drawn landmark in the high-precision map.
And step S104, drawing the landmark to be drawn at the target position in the high-precision map, and assigning an attribute to the landmark to be drawn.
In the embodiment of the application, after determining the target position of the target landmark to be drawn in the high-precision map, the landmark to be drawn is drawn at the target position in the high-precision map, and the landmark to be drawn is assigned with an attribute, wherein the attribute of the landmark to be drawn is an attribute of a target lane line corresponding to the landmark to be drawn, including but not limited to a lane line ID, lane line tile information and the like.
According to the method and the device for achieving the automatic driving, the target video collected by the collecting vehicle on the target road is obtained, semantic segmentation is carried out on the target video, each pixel of the landmark to be drawn is obtained, then settlement is carried out on the pixel of the landmark to be drawn, the target position of the landmark to be drawn in the high-precision map is determined, the landmark to be drawn is drawn at the target position, the landmark to be drawn is endowed with the attribute, drawing of the landmark to be drawn in the high-precision map can be automatically completed, the drawing position is accurate, the landmark drawing efficiency and accuracy are improved, the high-precision map precision is improved, and the automatic driving safety is guaranteed.
Corresponding to the embodiment of the application function implementation method, the application further provides a landmark drawing device, electronic equipment and corresponding embodiments.
Fig. 8 is a schematic structural diagram of a landmark drawing device shown in an embodiment of the present application.
Referring to fig. 8, the landmark drawing device 80 provided in the embodiment of the present application includes an image obtaining module 810, a pixel point obtaining module 820, a position determining module 830, and a drawing module 840, where:
the image acquisition module 810 is configured to acquire a track point where the acquisition vehicle travels on a target road and a target video including a landmark to be drawn acquired by the acquisition vehicle at the track point;
the pixel point obtaining module 820 is configured to perform semantic segmentation on a target image containing a landmark to be drawn in each frame in the target video by using a semantic segmentation network, so as to obtain a landmark to be drawn pixel point in the target image;
the position determining module 830 is configured to calculate pixel points of a landmark to be drawn in multiple continuous frame target images, and determine a target position of the landmark to be drawn in the high-precision map;
and a drawing module 840, configured to draw the landmark to be drawn at the target position in the high-precision map, and assign an attribute to the landmark to be drawn.
As a possible implementation manner of the present application, in this implementation manner, the performing semantic segmentation on each frame of target image in the target video using the semantic segmentation network to obtain a landmark pixel point to be drawn in the target image includes:
and carrying out semantic segmentation on each frame of target image in the target video by adopting a unet network model to obtain the pixel points of the to-be-drawn marks in each frame of target image.
As a possible implementation manner of the present application, in this implementation manner, the calculating the pixel point of the landmark to be drawn in the target images of the multiple continuous frames, before determining the target position of the landmark to be drawn in the high-precision map, includes:
calculating the area of a communication area of the pixel points of the to-be-drawn landmarks in each target image;
and deleting the target image with the area smaller than a preset area threshold value.
As a possible implementation manner of the present application, in this implementation manner, the calculating the pixel points of the landmark to be drawn in the target images of the multiple continuous frames, and determining the target position of the landmark to be drawn in the high-precision map includes:
aiming at the same target landmark to be drawn, resolving pixels of the landmarks to be drawn in a plurality of continuous frame target images to obtain a plurality of candidate landmarks to be drawn;
screening the pixel points in the plurality of candidate landmarks to be drawn by adopting a non-maximum suppression algorithm, and determining target pixel points for forming the target landmark to be drawn;
and determining a positioning point of the target landmark to be drawn based on the target pixel point, and determining a target position of the target landmark to be drawn in the high-precision map based on the positioning point.
As a possible implementation manner of the present application, in this implementation manner, before the drawing of the landmark to be drawn at the target position in the high-precision map, the method further includes:
determining a target lane and a target lane line corresponding to the to-be-drawn landmark;
and adjusting the target pixel point by adopting an optimization equation to ensure that the landmark to be drawn is parallel to the target lane line, the landmark to be drawn is in a preset central range of the target lane, and the error of the initial solution position of the target position and the landmark to be drawn is in a preset range.
As a possible implementation manner of the present application, in this implementation manner, the determining the target lane and the target lane line corresponding to the to-be-drawn landmark includes:
determining the geographic position of the acquisition vehicle based on the track points of the acquisition vehicle when the target image is acquired;
and determining a target lane and a target lane line corresponding to the to-be-drawn landmark based on the geographic position.
As a possible implementation manner of the present application, in this implementation manner, the attribute marking the to-be-drawn landmark includes:
and assigning attribute information of the target lane line for the landmark to be drawn.
The specific manner in which the respective modules perform the operations in the apparatus of the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail herein.
According to the method and the device for achieving the automatic driving, the target video collected by the collecting vehicle on the target road is obtained, semantic segmentation is carried out on the target video, each pixel of the landmark to be drawn is obtained, then settlement is carried out on the pixel of the landmark to be drawn, the target position of the landmark to be drawn in the high-precision map is determined, the landmark to be drawn is drawn at the target position, the landmark to be drawn is endowed with the attribute, drawing of the landmark to be drawn in the high-precision map can be automatically completed, the drawing position is accurate, the landmark drawing efficiency and accuracy are improved, the high-precision map precision is improved, and the automatic driving safety is guaranteed.
Referring now to fig. 9, a schematic diagram of an electronic device 900 suitable for use in implementing embodiments of the present disclosure is shown. The terminal devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 9 is merely an example, and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.
An electronic device includes: a memory and a processor, where the processor may be referred to as a processing device 901 described below, the memory may include at least one of a Read Only Memory (ROM) 902, a Random Access Memory (RAM) 903, and a storage device 908 described below, as follows:
as shown in fig. 9, the electronic device 900 may include a processing means (e.g., a central processor, a graphics processor, etc.) 901, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 902 or a program loaded from a storage means 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data necessary for the operation of the electronic device 900 are also stored. The processing device 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.
In general, the following devices may be connected to the I/O interface 905: input devices 906 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 907 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 908 including, for example, magnetic tape, hard disk, etc.; and a communication device 909. The communication means 909 may allow the electronic device 900 to communicate wirelessly or by wire with other devices to exchange data. While fig. 9 shows an electronic device 900 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 be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 909, or installed from the storage device 908, or installed from the ROM 902. When executed by the processing device 901, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any 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 the context of this 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 the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. 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, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication 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 networks.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring a track point of a collected vehicle running on a target road and a target video which is collected by the collected vehicle at the track point and contains a landmark to be drawn; performing semantic segmentation on a target image containing a landmark to be drawn in each frame in the target video by using a semantic segmentation network to obtain pixel points of the landmark to be drawn in the target image; calculating pixel points of the landmarks to be drawn in the target images of the multiple continuous frames, and determining the target positions of the landmarks to be drawn in the high-precision map; and drawing the landmark to be drawn at the target position in the high-precision map, and assigning attributes to the landmark to be drawn.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts 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 modules or units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Where the name of a module or unit does not in some cases constitute a limitation of the unit itself.
The functions described above herein 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: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.

Claims (10)

1. A landmark drawing method, comprising:
acquiring a track point of a collected vehicle running on a target road and a target video which is collected by the collected vehicle at the track point and contains a landmark to be drawn;
performing semantic segmentation on a target image containing a landmark to be drawn in each frame in the target video by using a semantic segmentation network to obtain pixel points of the landmark to be drawn in the target image;
calculating pixel points of the landmarks to be drawn in the target images of the multiple continuous frames, and determining the target positions of the landmarks to be drawn in the high-precision map;
and drawing the landmark to be drawn at the target position in the high-precision map, and assigning attributes to the landmark to be drawn.
2. The landmark drawing method according to claim 1, wherein the semantic segmentation of the target image containing the landmark to be drawn in each frame in the target video using the semantic segmentation network, to obtain the landmark to be drawn pixel point in the target image, includes:
and carrying out semantic segmentation on each frame of target image in the target video by adopting a unet network model to obtain the pixel points of the to-be-drawn marks in each frame of target image.
3. The landmark drawing method according to claim 1, wherein the calculating the pixel points of the landmark to be drawn in the plurality of continuous frame target images, before determining the target position of the landmark to be drawn in the high-precision map, includes:
calculating the area of a communication area of the pixel points of the to-be-drawn landmarks in each target image;
and deleting the target image with the area smaller than a preset area threshold value.
4. The landmark drawing method according to claim 1, wherein the calculating the pixel points of the landmark to be drawn in the plurality of continuous frame target images, and determining the target position of the landmark to be drawn in the high-precision map, includes:
aiming at the same target landmark to be drawn, resolving pixels of the landmarks to be drawn in a plurality of continuous frame target images to obtain a plurality of candidate landmarks to be drawn;
screening the pixel points in the plurality of candidate landmarks to be drawn by adopting a non-maximum suppression algorithm, and determining target pixel points for forming the target landmark to be drawn;
and determining a positioning point of the target landmark to be drawn based on the target pixel point, and determining a target position of the target landmark to be drawn in the high-precision map based on the positioning point.
5. The landmark drawing method according to claim 4, wherein before the drawing of the landmark to be drawn at the target position in the high-definition map, further comprising:
determining a target lane and a target lane line corresponding to the to-be-drawn landmark;
and adjusting the target pixel point by adopting an optimization equation to ensure that the landmark to be drawn is parallel to the target lane line, the landmark to be drawn is in a preset central range of the target lane, and the error of the initial solution position of the target position and the landmark to be drawn is in a preset range.
6. The landmark drawing method according to claim 5, wherein the determining the target lane and the target lane line corresponding to the landmark to be drawn includes:
determining the geographic position of the acquisition vehicle based on the track points of the acquisition vehicle when the target image is acquired;
and determining a target lane and a target lane line corresponding to the to-be-drawn landmark based on the geographic position.
7. The method of claim 5, wherein said assigning attributes to the landmark to be drawn comprises:
and assigning attribute information of the target lane line for the landmark to be drawn.
8. A landmark drawing apparatus, comprising:
the image acquisition module is used for acquiring track points of the collected vehicle running on the target road and target videos, which are collected by the collected vehicle at the track points and contain the to-be-drawn landmarks;
the pixel point acquisition module is used for carrying out semantic segmentation on a target image containing a landmark to be drawn in each frame in the target video by using a semantic segmentation network to obtain a landmark to be drawn pixel point in the target image;
the position determining module is used for resolving pixel points of the to-be-drawn landmarks in the target images of the multiple continuous frames and determining the target positions of the to-be-drawn landmarks in the high-precision map;
and the drawing module is used for drawing the landmark to be drawn at the target position in the high-precision map and assigning attributes to the landmark to be drawn.
9. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-7.
10. A computer readable storage medium having stored thereon executable code which when executed by a processor of an electronic device causes the processor to perform the method of any of claims 1-7.
CN202410014441.0A 2024-01-04 2024-01-04 Landmark drawing method, landmark drawing device, electronic equipment and computer readable storage medium Pending CN117824678A (en)

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