Curbstone detection method

• Main Authors: JIA JIHAO, WANG TAIXING, ZU YUAN, ZHU DONGDONG
• Format: Patent
• Language: Chinese; English
• Published: 30.09.2022
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention provides a curbstone detection method and device, a medium and electronic equipment. According to the invention, the grid processing is carried out on the frame point cloud through the grid method, the candidate grid string is determined by using the grid value of the first grid in the grid string, and then all the first curbstone coordinates related to the curbstone boundary on the first horizontal plane are determined through the projection coordinates of the candidate grid string on the first horizontal plane. The problem that the curbstone cannot be stably detected is solved by means of the characteristic that the curbstone is highly suddenly changed and by means of the time sequence characteristics to solve the shielding problem, and the detection rate and the detection efficiency of the curbstone are improved. 本公开提供了一种路牙检测方法、装置、介质和电子设备。本公开通过栅格法对帧点云进行网格化处理，利用网格串中第一网格的网格值确定候选网格串，然后通过候选网格串在第一水平面上的投影坐标确定第一水平面上所有与路牙边界相关的第一路牙坐标。借助路牙本身是高度突变特性，以及利用时序特征解决遮挡问题来克服路牙不能稳定检出问题，提高了路牙的检出率和检出效率。