Method of and apparatus for producing lane information
First Claim
1. Method of producing lane information for use in a map database comprising:
- acquiring one or more source images of a road surface and associated position and orientation data, the road having a direction and lane markings parallel to the direction of the road;
acquiring road information representative of the direction of said road;
transforming the one or more source images to obtain a transformed image in dependence of the road information, wherein each column of pixels of the transformed image corresponds to a surface parallel to the direction of said road;
applying a filter with asymmetrical mask on the transformed image to obtain a filtered image; and
,producing lane information from the filtered image in dependence of the position and orientation data associated with the one or more source images;
wherein the one or more source images have been obtained by;
retrieving one or more image sequences obtained by means of one or more terrestrial based cameras mounted on a moving vehicle driving on the road and associated position and orientation data; and
performing a normalization process on the one or more image sequences to obtain the one or more images and position and orientation data associated with said one or more images.
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Abstract
A method of producing lane information for use in a map database is disclosed. In at least one embodiment, the method includes acquiring one or more source images of a road surface and associated position and orientation data, the road having a direction and lane markings parallel to the direction of the road; acquiring road information representative of the direction of said road; transforming the one or more source images to obtain a transformed image in dependence of the road information, wherein each column of pixels of the transformed image corresponds to a surface parallel to the direction of said road; applying a filter with asymmetrical mask on the transformed image to obtain a filtered image; and producing lane information from the filtered image in dependence of the position and orientation data associated with the one or more source images.
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Citations
21 Claims
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1. Method of producing lane information for use in a map database comprising:
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acquiring one or more source images of a road surface and associated position and orientation data, the road having a direction and lane markings parallel to the direction of the road; acquiring road information representative of the direction of said road; transforming the one or more source images to obtain a transformed image in dependence of the road information, wherein each column of pixels of the transformed image corresponds to a surface parallel to the direction of said road; applying a filter with asymmetrical mask on the transformed image to obtain a filtered image; and
,producing lane information from the filtered image in dependence of the position and orientation data associated with the one or more source images; wherein the one or more source images have been obtained by; retrieving one or more image sequences obtained by means of one or more terrestrial based cameras mounted on a moving vehicle driving on the road and associated position and orientation data; and performing a normalization process on the one or more image sequences to obtain the one or more images and position and orientation data associated with said one or more images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. An apparatus comprising:
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an input device; a processor readable storage medium; a processor in communication with said input device and said processor readable storage medium; and an output device to enable the connection with a display unit;
said processor readable storage medium storing code to program said processor to perform the actions comprising;acquiring one or more source images and associated position and orientation data; acquiring tracking information of a vehicle driving on a road, the road having lane markings parallel to the direction of the road; transforming the one or more source images to obtain an transformed image in dependence of the tracking information, wherein the transformed image represents the road surface in front of the vehicle and each column of pixels corresponds to a surface parallel to the driving direction of the vehicle; applying a filter with asymmetrical mask on the transformed image to obtain a filtered image; and producing lane information from the filtered image in dependence of the position and orientation data associated with the one or more source images; wherein the one or more source images have been obtained by; retrieving one or more image sequences obtained by means of one or more terrestrial based cameras mounted on a moving vehicle driving on the road and associated position and orientation data; and performing a normalization process on the one or more image sequences to obtain the one or more images and position and orientation data associated with said one or more images.
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Specification