Method and apparatus for determining lane line, medium, and device

A non-transitory computer readable storage medium, storing a computer program, which, when executed by a processor to implement a method for determining a lane line, comprising:

• determining a first image corresponding to a first camera and a second image corresponding to a second camera;
• determining, based on the first image, a first lane line pixel point set;
• determining, based on the second image, a second lane line pixel point set;
• determining, based on the first lane line pixel point set and a first extrinsic parameter of the first camera, a first lane line sampling point set corresponding to the first lane line pixel point set in a vehicle local coordinate system;
• determining a corrected extrinsic parameter corresponding to a second extrinsic parameter of the second camera;
• determining, based on the second lane line pixel point set and the corrected extrinsic parameter, a second lane line sampling point set corresponding to the second lane line pixel point set in the vehicle local coordinate system;
• and
• determining the lane line based on the first lane line sampling point set and the second lane line sampling point set.

An electronic device, wherein the electronic device comprises:

• a processor;
• and
• a memory, configured to store processor-executable instructions,
• wherein the processor is configured to read the executable instructions from the memory, and execute the instructions to implement a method for determining a lane line, comprising:
• determining a first image corresponding to a first camera and a second image corresponding to a second camera;
• determining, based on the first image, a first lane line pixel point set;
• determining, based on the second image, a second lane line pixel point set;
• determining, based on the first lane line pixel point set and a first extrinsic parameter of the first camera, a first lane line sampling point set corresponding to the first lane line pixel point set in a vehicle local coordinate system;
• determining a corrected extrinsic parameter corresponding to a second extrinsic parameter of the second camera;
• determining, based on the second lane line pixel point set and the corrected extrinsic parameter, a second lane line sampling point set corresponding to the second lane line pixel point set in the vehicle local coordinate system;
• and
• determining the lane line based on the first lane line sampling point set and the second lane line sampling point set.