Autonomous road marking method and system, marking robot and storage medium

The invention discloses an autonomous road marking method and system, a marking robot and a storage medium, and the method comprises the steps: obtaining a lane image, carrying out the line segment detection of the lane image, and obtaining a plurality of detected initial screening lines; screening the plurality of initial screening lines to obtain a target line according to the inclination angles and the line segment lengths of the plurality of initial screening lines; wherein the target lines are a plurality of lines which are arranged along the same direction and are adjacent to each other; and performing steering motion according to the target line so as to complete lane marking of the road. According to the invention, the accuracy of judging the waterline or the old lane line can be improved, so that the accuracy of autonomous lane marking is improved. 本发明公开了一种道路自主划线方法、系统、划线机器人及存储介质，所述道路自主划线方法包括：获取车道图像，并对所述车道图像进行线段检测，得到检测后的多条初始筛选线；根据多条所述初始筛选线的倾斜角度和线段长度，对多条所述初始筛选线进行筛选得到目标线；其中，所述目标线为沿相同方向且彼此相邻的多条线；按照所述目标线进