Method and system for establishing lane line map and extracting topological structure

The invention relates to a lane line map establishment and topological structure extraction method and system, and the method is characterized in that the method comprises the steps: extracting the features of an aerial view according to a point cloud lane line aerial view image and a driving track data image; obtaining various kinds of lane line information and vectorization results according to the extracted aerial view features by adopting a center line extractor network; and post-processing the obtained various lane line information and vectorization results based on an association mechanism to obtain a topological relation, so that virtual lane line information can be speculated and the topological relation between lanes can be obtained at the same time, and the method can be widely applied to the field of intelligent network connection automobile environment construction. 本发明涉及一种车道线地图建立和拓扑结构提取方法及系统，其特征在于，包括：根据点云车道线鸟瞰图像和行车轨迹数据图像，提取鸟瞰图特征；采用中心线提取器网络，根据提取的鸟瞰图特征，得到各类车道线信息和矢量化结果；基于关联机制，对得到的各类车道线信息和矢量化结果进行后处理，