High-precision map vertical element updating detection method, system, medium and equipment

The invention relates to a high-precision map vertical element updating detection method and system, a medium and equipment, and the method comprises the steps: detecting map vertical elements in a picture from obtained original image data, and obtaining the pixel edge point of each detected vertical element; associating the acquired vertical elements on the images at the adjacent moments to obtain velocity vectors between corresponding associated pixels in the images at the adjacent moments; vehicle position and attitude information is obtained according to the speed vector, pixel rotation marks of the upper edge point and the lower edge point of the detected vertical element are converted into a world coordinate system through the vehicle position and attitude information, and the distance of the vertical element relative to the vehicle is obtained; determining whether a vertical object exists according to the distance of the vertical element relative to the vehicle, calculating the confidence coefficient o