The invention discloses a lane level positioning method. The method comprises the following steps: carrying out road element segmentation on an input image to obtain a segmented image containing roadelements of a specified category; carrying out vectorization processing on pixels included in road elements of a specified category in the segmented image, and obtaining road data including description information of the road elements of the specified category; and according to road element description information included in the road data and imaging equipment parameters for shooting the input image, determining a lane where the vehicle is located and a position relationship between the vehicle and a specified road element. According to the lane-level positioning method provided by the embodiment of the invention, the lane-level positioning of the vehicle can be realized through the road image shot in real time, and the lane where the vehicle is located and the specific position of the vehicle in the road can be quickly and accurately positioned without depending on a lane-level map.
本发明公开了一种车道级定位方法。所述方法包括:对输入图像进行道路要素分割,得到包含指定类别的道路要素的分割图像;对分割图像中指定类别的道路要素所包括的像素进行矢量化处理,得到包括所述指定类别的道路要素描述信息的道路数据;根据所述道路数据包括的道路要素描述信息和拍摄所述输入图像的成像设备参数,确定车辆所在的车道和车辆与指定道路要素的位置关系。本发明实施例提供的车道级定位方法,通过实时拍摄的道路图像即可实现对车辆的车道级定位,不需要依赖车道级地图即可快速、准确的定位出车辆所在的车道和车辆在道路中的具体位置。
Lane-level positioning method and device and positioning equipment
一种车道级定位方法、装置及定位设备
2020-08-04
Patent
Electronic Resource
Chinese
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