Road Marking Extraction Method Based on Vehicle Laser Point Cloud

Weigang Li; Xiang Fan; Yang Mei; Yuntao Zhao

doi:10.3788/CJL202249.0710001

Chinese Journal of Lasers, Volume. 49, Issue 7, 0710001(2022)

Road Marking Extraction Method Based on Vehicle Laser Point Cloud

Weigang Li^*, Xiang Fan, Yang Mei, and Yuntao Zhao

Engineering Research Center of Metallurgical Automation and Measurement Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan, Hubei 430081, China

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Figures & Tables(13)

Fig. 1. Road markings extraction algorithm flow

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Fig. 2. Schematic of CSF algorithm

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Fig. 3. Schematic of normal vector of road cross section

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Fig. 4. Original laser point cloud data. (a) Point cloud panoramic view; (b) experimental section 1; (c) experimental section 2; (d) experimental section 3

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Fig. 5. Schematics of road surface point cloud extraction process. (a) Original point cloud; (b) ground point cloud; (c) road surface point cloud; (d)(e) partially enlarged views of road surface point cloud

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Fig. 6. Extraction effect diagrams of road marking under different grid sizes

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Fig. 7. Index of road marking extraction under different grid sizes

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Fig. 8. Effect diagrams of road marking extraction under different threshold segmentation methods. (a) Intensity feature image; (b) maximum entropy threshold segmentation method; (c) block maximum entropy threshold segmentation method; (d) adaptive threshold segmentation method; (e) our method

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Fig. 9. Extraction results of road marking point cloud. (a) Extraction result of section 3; (b) extraction result of section 2; (c) extraction result of section 1

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Fig. 10. Extraction results of road marking of section 1. (a) Road surface point cloud; (b) method proposed by Yao et al; (c) method proposed by Yu ea al; (d) our method; (e) manually labeling

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Table 1. Identification accuracy of road marking under different threshold segmentation methods
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Table 1. Identification accuracy of road marking under different threshold segmentation methods
Threshold segmentation method r /% p /% F /%
Maximum entropy segmentation 88.5 71.0 78.8
Block maximum entropy threshold 89.5 58.3 70.6
Adaptive threshold 89.2 86.1 87.6
Our method 92.8 96.8 94.8

Table 2. Identification accuracy of road marking
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Table 2. Identification accuracy of road marking
Section No. N_TP N_FN N_FP p /% r /% F /%
1 130613 10164 4310 96.8 92.8 94.8
2 118743 13254 11691 91.0 90.0 90.5
3 81000 6360 1020 98.8 92.7 95.6

Table 3. Quantitative evaluation results of different methods
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Table 3. Quantitative evaluation results of different methods
Method p /% r /% F /%
Method proposed by Yao et al 86.1 89.2 87.6
Method proposed by Yu et al 95.7 91.9 93.8
Our method 96.8 92.8 94.8

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Weigang Li, Xiang Fan, Yang Mei, Yuntao Zhao. Road Marking Extraction Method Based on Vehicle Laser Point Cloud[J]. Chinese Journal of Lasers, 2022, 49(7): 0710001

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