METHOD AND APPARATUS FOR ROAD WIDTH ESTIMATION

• US 20150120244A1
• Filed: 10/31/2013
• Published: 04/30/2015
• Est. Priority Date: 10/31/2013
• Status: Abandoned Application

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Ma, Xiang, Chen, Xin
• Application Number:
  US14/068,710
• Publication Number:
  US 20150120244A1
• Time in Patent Office: Days
• US Class Current: 702/172
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/20021 Dividing image into blocks, subimages or windows
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/75 involving models
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A method, apparatus, and computer program product are disclosed to estimate road widths, irrespective of the presence of curbs or occlusions on the road surface. In the context of a method, a point cloud representing terrain is accessed. In one embodiment, the point cloud may be generated from lidar scanning during a trip. The point cloud is divided into sections representing portions of the terrain. The method further includes, for each section, identifying a ground planar surface of the section, estimating a drive plane of the section based on the ground planar surface and a drive direction, and calculating a road width of the section based on the ground planar surface and drive plane. The method may further include applying a smoothing algorithm to adjust the calculated road width of at least one section. A corresponding apparatus and computer program product are also provided.

Claims

1. A method comprising:

accessing a point cloud representing terrain;

dividing the point cloud into sections representing portions of the terrain; and

calculating, by a processor, a road width of each of the sections.

2. The method of claim 1, wherein calculating a road width of a section includes:

identifying a ground planar surface of the section;

estimating a drive plane of the section based on the ground planar surface and a drive direction; and

calculating a road width of the section based on the ground planar surface and the drive plane.

3. The method of claim 2, wherein identifying the ground planar surface of the section includes:

segmenting ground points in the section based on sensor locations and possible road ranges; and

identifying a biggest planar surface of the segmented ground points as the ground planar surface.

4. The method of claim 2, wherein estimating the drive plane of the section includes:

identifying the drive direction of the section based on sensor locations in timestamps corresponding to the section; and

estimating the drive plane of the section as a plane that intersects the sensor locations, that is parallel to the drive direction, and that is orthogonal to the ground planar surface of the section.

5. The method of claim 2, wherein calculating the road width of the section includes:

creating a first distance-to-height (D-H) map based on a portion of the ground planar surface to the left of the drive plane;

creating a second D-H map based on a portion of the ground planar surface to the right of the drive plane;

detecting, using bin analysis, whether road structures are present in the D-H maps;

classifying any detected road structures;

calculating a left boundary point using the first D-H map and a right boundary point using the second D-H map; and

identifying the road width of the section as a distance from the left boundary point to the right boundary point.

6. The method of claim 5, wherein calculating a boundary point using a D-H map includes:

in an instance in which a road structure detected using the D-H map comprises a curb, identifying the curb as the boundary point;

in an instance in which a height drop between bins of the D-H map exceeds a threshold, identifying a point at which the height drop occurs as the boundary point; and

in an instance in which no road structures or height drops are detected, identifying, as the boundary point, a point on the D-H map that is farthest from the drive plane.

7. The method of claim 1, further comprising applying a smoothing algorithm to adjust the calculated road width of at least one section.

8. An apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:

access a point cloud representing terrain;

divide the point cloud into sections representing portions of the terrain; and

calculate a road width of each of the sections.

9. The apparatus of claim 8, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to calculate a road width of a section by:

identifying a ground planar surface of the section;

estimating a drive plane of the section based on the ground planar surface and a drive direction; and

calculating a road width of the section based on the ground planar surface and the drive plane.

10. The apparatus of claim 9, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to identify the ground planar surface of the section by:

segmenting ground points in the section based on sensor locations and possible road ranges; and

identifying a biggest planar surface of the segmented ground points as the ground planar surface.

11. The apparatus of claim 9, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to estimate the drive plane of the section by:

identifying the drive direction of the section based on sensor locations in timestamps corresponding to the section; and

estimating the drive plane of the section as a plane that intersects the sensor locations, that is parallel to the drive direction, and that is orthogonal to the ground planar surface of the section.

12. The apparatus of claim 9, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to calculate the road width of the section by:

creating a first D-H map based on a portion of the ground planar surface to the left of the drive plane;

creating a second D-H map based on a portion of the ground planar surface to the right of the drive plane;

detecting, using bin analysis, whether road structures are present in the D-H maps;

classifying any detected road structures;

calculating a left boundary point using the first D-H map and a right boundary point using the second D-H map; and

identifying the road width of the section as a distance from the left boundary point to the right boundary point.

13. The apparatus of claim 12, wherein calculating a boundary point using a D-H map includes:

in an instance in which a road structure detected using the D-H map comprises a curb, identifying the curb as the boundary point;

in an instance in which a height drop between bins of the D-H map exceeds a threshold, identifying a point at which the height drop occurs as the boundary point; and

in an instance in which no road structures or height drops are detected, identifying, as the boundary point, a point on the D-H map that is farthest from the drive plane.

14. The apparatus of claim 8, wherein the at least one memory and the computer program code are further configured to, with the at least one processor, cause the apparatus to apply a smoothing algorithm to adjust the calculated road width of at least one section.

15. A computer program product comprising at least one computer-readable storage medium having computer-executable program code portions stored therein, the computer-executable program code portions comprising program code instructions that, when executed, cause an apparatus to:

access a point cloud representing terrain;

divide the point cloud into sections representing portions of the terrain; and

calculate a road width of each of the sections.

16. The computer program product of claim 15, wherein the program code instructions, when executed, cause the apparatus to calculate a road width of a section by:

identifying a ground planar surface of the section;

estimating a drive plane of the section based on the ground planar surface and a drive direction; and

calculating a road width of the section based on the ground planar surface and the drive plane.

17. The computer program product of claim 16, wherein the program code instructions, when executed, cause the apparatus to identify the ground planar surface of the section cloud by:

segmenting ground points in the section based on sensor locations and possible road ranges; and

identifying a biggest planar surface of the segmented ground points as the ground planar surface.

18. The computer program product of claim 16, wherein the program code instructions, when executed, cause the apparatus to estimate the drive plane of the section by:

identifying the drive direction of the section based on sensor locations in timestamps corresponding to the section; and

estimating the drive plane of the section as a plane that intersects the sensor locations, that is parallel to the drive direction, and that is orthogonal to the ground planar surface of the section.

19. The computer program product of claim 16, wherein the program code instructions, when executed, cause the apparatus to calculate the road width of the section by:

creating a first D-H map based on a portion of the ground planar surface to the left of the drive plane;

creating a second D-H map based on a portion of the ground planar surface to the right of the drive plane;

detecting, using bin analysis, whether road structures are present in the D-H maps;

classifying any detected road structures;

calculating a left boundary point using the first D-H map and a right boundary point using the second D-H map; and

identifying the road width of the section as a distance from the left boundary point to the right boundary point.

20. The computer program product of claim 19, wherein calculating a boundary point using a D-H map includes:

in an instance in which a road structure detected using the D-H map comprises a curb, identifying the curb as the boundary point;

in an instance in which a height drop between bins of the D-H map exceeds a threshold, identifying a point at which the height drop occurs as the boundary point; and

in an instance in which no road structures or height drops are detected, identifying, as the boundary point, a point on the D-H map that is farthest from the drive plane.

21. The computer program product of claim 15, wherein the program code instructions, when executed, cause the apparatus to apply a smoothing algorithm to adjust the calculated road width of at least one section.