LOCALIZATION USING ROAD MARKINGS
First Claim
1. A method for vehicle localization, comprising:
- receiving a runtime image of a navigation environment associated with a perspective from a vehicle, the runtime image comprising one or more runtime road markings;
transforming the runtime image into a rectified runtime image by reducing perspective distortion associated with the runtime image, the rectified runtime image comprising a rectified view of the one or more runtime road markings;
enhancing the rectified runtime image by extracting one or more enhanced runtime road marking regions from the rectified runtime image;
calculating one or more runtime corners for the one or more runtime road markings based on the one or more enhanced runtime road marking regions;
matching the one or more runtime corners with one or more template corners from one or more templates; and
determining a location of the vehicle or a pose of the vehicle based on the matching,wherein the receiving, transforming, enhancing, calculating, matching, and determining is implemented via a processing unit.
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Abstract
One or more embodiments of techniques or systems for creating a road marking classification template and vehicle localization using road markings are provided herein. A road marking classification template database includes templates of training images taken from different navigation environments. A training image with a road marking can be rectified and enhanced. Corners can be calculated for the road marking using the rectified or enhanced image. Locations can be determined for the corners and stored as part of a template. Similarly, a runtime image can also be rectified, enhanced, boosted, etc. Additionally, corners can be calculated for the runtime image and matched against corners of templates from the template database. A location or a pose of a vehicle can be determined using the match. In this way, vehicle localization is provided such that drift or other issues associated with GPS, such as occlusion, are mitigated, for example.
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Citations
20 Claims
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1. A method for vehicle localization, comprising:
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receiving a runtime image of a navigation environment associated with a perspective from a vehicle, the runtime image comprising one or more runtime road markings; transforming the runtime image into a rectified runtime image by reducing perspective distortion associated with the runtime image, the rectified runtime image comprising a rectified view of the one or more runtime road markings; enhancing the rectified runtime image by extracting one or more enhanced runtime road marking regions from the rectified runtime image; calculating one or more runtime corners for the one or more runtime road markings based on the one or more enhanced runtime road marking regions; matching the one or more runtime corners with one or more template corners from one or more templates; and determining a location of the vehicle or a pose of the vehicle based on the matching, wherein the receiving, transforming, enhancing, calculating, matching, and determining is implemented via a processing unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for vehicle localization, comprising:
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a road marking detection component configured to receive a runtime image of a navigation environment associated with a perspective from a vehicle, the runtime image comprising one or more runtime road markings; an image processing component configured to; transform the runtime image into a rectified runtime image by reducing perspective distortion associated with the runtime image, the rectified runtime image comprising a rectified view of the one or more runtime road markings; and enhance the rectified runtime image by extracting one or more enhanced runtime road marking regions from the rectified runtime image; a corner component configured to calculate one or more runtime corners for the one or more runtime road markings based on the one or more enhanced runtime road marking regions; a matching component configured to match the one or more runtime corners with one or more template corners from one or more templates; and a localization component configured to determine a location of the vehicle or a pose of the vehicle based on the match. - View Dependent Claims (14, 15, 16)
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17. A computer-readable storage medium comprising computer-executable instructions, which when executed via a processing unit on a computer performs acts, comprising:
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transforming a runtime image of a navigation environment into a rectified runtime image, the rectified runtime image comprising a rectified view of one or more runtime road markings, the runtime image associated with a perspective from a vehicle; calculating one or more runtime corners for the one or more runtime road markings based on one or more enhanced runtime road marking regions derived from the rectified runtime image; and determining at least one of a location of the vehicle or a pose of the vehicle based on matching the one or more runtime corners with one or more template corners from one or more templates. - View Dependent Claims (18, 19, 20)
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Specification