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LANE STRIPE DETECTING METHOD BASED ON THREE-DIMENSIONAL LIDAR AND SYSTEM THEREOF
LANE STRIPE DETECTING METHOD BASED ON THREE-DIMENSIONAL LIDAR AND SYSTEM THEREOF
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机译:基于三维激光的车道条纹检测方法及系统
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摘要
A lane stripe detecting method based on a three-dimensional LIDAR is for detecting a lane stripe of a road surface around a vehicle. A data acquisition transforming step is for obtaining a plurality of vehicle scan point coordinates. The vehicle scan point coordinates are divided into a plurality of scan lines, and each of the scan lines has a plurality of scan points. A horizontal layer lane stripe judging step is judging whether each of the scan points is a horizontal stripe point or a non-horizontal stripe point according to a threshold value of each of the scan lines. At least two of the threshold values of the scan lines are different from each other. A vertical layer lane stripe judging step is for judging whether each of the horizontal stripe points is a same lane stripe point or a different lane stripe point.
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