System and method for large-scale lane marking detection using multimodal sensor data
First Claim
Patent Images
1. A system comprising:
- a data processor; and
a multimodal lane detection module, executable by the data processor, the multimodal lane detection module being configured to perform a multimodal lane detection operation configured to;
receive image data from an image generating device mounted on a vehicle, the received image data corresponding to a particular location;
receive point cloud data from a distance and intensity measuring device mounted on the vehicle;
fuse the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data, the fusion including aligning and orienting the image data with a terrain map corresponding to the particular location and using terrain map elevation data to transform the image data to the 3D space; and
generate a lane marking map from the set of lane marking points.
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Abstract
A system and method for large-scale lane marking detection using multimodal sensor data are disclosed. A particular embodiment includes: receiving image data from an image generating device mounted on a vehicle; receiving point cloud data from a distance and intensity measuring device mounted on the vehicle; fusing the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data; and generating a lane marking map from the set of lane marking points.
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Citations
20 Claims
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1. A system comprising:
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a data processor; and a multimodal lane detection module, executable by the data processor, the multimodal lane detection module being configured to perform a multimodal lane detection operation configured to; receive image data from an image generating device mounted on a vehicle, the received image data corresponding to a particular location; receive point cloud data from a distance and intensity measuring device mounted on the vehicle; fuse the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data, the fusion including aligning and orienting the image data with a terrain map corresponding to the particular location and using terrain map elevation data to transform the image data to the 3D space; and generate a lane marking map from the set of lane marking points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method comprising:
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receiving image data from an image generating device mounted on a vehicle, the received image data corresponding to a particular location; receiving point cloud data from a distance and intensity measuring device mounted on the vehicle; fusing the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data the fusing including aligning and orienting the image data with a terrain map corresponding to the particular location and using terrain map elevation data to transform the image data to the 3D space; and generating a lane marking map from the set of lane marking points. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
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receive image data from an image generating device mounted on a vehicle, the received image data corresponding to a particular location; receive point cloud data from a distance and intensity measuring device mounted on the vehicle; fuse the image data and the point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data, the fusion including aligning and orienting the image data with a terrain map corresponding to the particular location and using terrain map elevation data to transform the image data to the 3D space; and generate a lane marking map from the set of lane marking points. - View Dependent Claims (18, 19, 20)
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Specification