Method for generating vectorized road model from point cloud data

Abstract

The invention discloses a method for generating a vectorized road model from point cloud data, and the method is characterized in that the method comprises the steps: obtaining the road point cloud data; determining lane line data corresponding to the road point cloud data according to the road point cloud data; determining a main direction of a lane line corresponding to the lane line data according to the lane line data; obtaining connected lane line data according to the main direction of the lane line and the lane line data; and determining a vectorized road model according to the connected lane line data. The method comprises the steps of determining lane line data according to road point cloud data; determining the main direction of the lane line according to the lane line data; combining the main direction of the lane line with the lane line data to obtain connected lane line data; and finally, determining a vectorized road model according to the connected lane line data. Recombination and vectorization of lane lines are achieved, and the difficulty of generating a vectorized road model is reduced. 本发明公开了一种从点云数据生成矢量化道路模型的方法，其特征在于，包括步骤：获取道路点云数据；根据所述道路点云数据，确定所述道路点云数据对应的车道线数据；根据所述车道线数据，确定所述车道线数据对应的车道线的主方向；根据所述车道线的主方向和所述车道线数据，得到连接的车道线数据；根据所述连接的车道线数据，确定矢量化道路模型。由于先根据道路点云数据，确定车道线数据；根据车道线数据，确定车道线的主方向；结合车道线的主方向和车道线数据，得到连接的车道线数据；最后根据连接的车道线数据，确定矢量化道路模型。实现对于车道线的重组和矢量化，降低了生成矢量化道路模型的难度。