Title:
METHOD AND APPARATUS FOR DETERMINING LANE LINES IN HIGH-PRECISION MAP
Document Type and Number:
WIPO Patent Application WO/2021/051344
Kind Code:
A1
Abstract:
A method for determining lane lines in a high-precision map, comprising: obtaining environmental images and a three-dimensional point cloud of the environment around a traveling vehicle (S1); determining lane line areas in the environment images (S2); projecting to the environment images points in the three-dimensional point cloud, and determining target points located in the lane line areas (S3); and fitting the target points to determine the lane lines (S4), such that the target points located in the lane line areas in the three-dimensional point cloud can be determined by combining the environment images and the three-dimensional point cloud, so as to determine the lane lines by fitting the target points. The three-dimensional point cloud can be used as a high-precision map, and manual participation is basically unnecessary during the determination of the lane lines, so that semi-automatic or even fully automatic determination of the lane lines in a high-precision map is facilitated, a large number of repeated lane line determination operations can be completed fast and efficiently, and the accuracy of lane line determination can be improved.
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Inventors:
SUN LU (CN)
ZHOU YOU (CN)
ZHU ZHENYU (CN)
ZHOU YOU (CN)
ZHU ZHENYU (CN)
Application Number:
PCT/CN2019/106648
Publication Date:
March 25, 2021
Filing Date:
September 19, 2019
Export Citation:
Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
G06T7/10; G06K9/00
Foreign References:
| CN107463918A | 2017-12-12 | |||
| CN110136182A | 2019-08-16 | |||
| CN108985230A | 2018-12-11 | |||
| CN110097620A | 2019-08-06 | |||
| CN105678689A | 2016-06-15 | |||
| US20170039436A1 | 2017-02-09 |
Attorney, Agent or Firm:
BEIJING BESTIPR INTELLECTUAL PROPERTY LAW CORPORATION (CN)
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