Apparatus and method for lane marking analysis

• US 8,929,660 B2
• Filed: 12/31/2009
• Issued: 01/06/2015
• Est. Priority Date: 05/04/2009
• Status: Active Grant

• Current Assignee: Tomtom Global Content B.V (TomTom NV)
• Original Assignee: Tomtom North America Incorporated (TomTom NV)
• Inventors: Joshi, Maneesha
• Primary Examiner(s): Koziol, Stephen R
• Assistant Examiner(s): GILLIARD, DELOMIA L
• Application Number:
  US13/318,621
• Publication Number:
  US 20120121183A1
• Time in Patent Office: 1,832 Days
• Field of Search: None
• US Class Current: 382/191
• CPC Class Codes: G01C 21/3492 employing speed data or traffic data, e.g. real-time or historical traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: G06V 10/26 Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
• 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
• CPC Class Codes: G08G 1/0104 Measuring and analyzing of parameters relative to traffic conditions
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/096844 where the complete route is dynamically recomputed based on new data

Abstract

Embodiments of the present invention provide a method of determining a location at which a lane divider marking changes type, comprising determining (350) a first type of lane divider (120) marking based upon a frequency spectrum determined by Fourier analysis of first image data (431) corresponding to a first area, determining (350) a second type of lane divider (130) marking based upon a frequency spectrum determined by Fourier analysis of second image data (432) corresponding to a second area, and determining (360) a geographic location at which the lane divider marking changes type according to a comparison of the first and second types (120, 130) of lane divider marking.

Claims

1. A method of determining a location at which a lane divider marking changes type, comprising:

determining a lane divider marking type separating a first lane from a second lane for a first road segment based upon a frequency spectrum determined by Fourier analysis of first image data corresponding to a first area;

determining a lane divider marking type separating the first lane from the second lane for a second road segment based upon a frequency spectrum determined by Fourier analysis of second image data corresponding to a second area; and

determining a geographic location at which the lane divider marking separating the first lane from the second lane changes type according to a comparison of the lane divider marking types for the first and second road segments.

2. The method of claim 1, wherein the Fourier analysis is based upon an intensity signal determined from at least one of the first and second image data.

3. The method of claim 1, wherein the determination of the intensity signal from at least one of the first and second image data comprises determining an intensity of a plurality of regions in the image data.

4. The method of claim 3, wherein each of the plurality of regions are elongate regions having a lengthwise axis generally perpendicular to a lengthwise axis of the image data.

5. The method of claim 4, wherein the lengthwise axis of the image data is generally parallel to an axis of the lane divider marking.

6. The method of claim 1, comprising receiving road image data corresponding to at least a portion of a road and determining portions of the road image data corresponding to the first and second image data.

7. The method of claim 1, wherein the first and second areas partially overlap.

8. The method of claim 1, wherein the types of lane divider markings for at least one of the first and second road segments are determined with respect to a reference frequency spectrums corresponding to a plurality of different types of lane divider markings.

9. The method of claim 1, comprising storing in a map database (730) an indication of one or more of the geographical locations at which the lane divider marking changes type.

16. The method of claim 1 further comprising normalizing an intensity of the first image data and an intensity the second image data.

17. The method of claim 16, wherein the normalization occurs during pre-processing.

18. The method of claim 1 further comprising reducing the size of the first image data and the size of the second image data to portions containing the lane divider marking being considered in the first image data and the second image data.

19. The method of claim 18, wherein the reduced portions of the first image data and the second image data are further analysed to determine a lane marker type.

10. An apparatus, comprising:

a processor;

wherein the processor has a lane divider analysis module executing thereon, wherein the lane divider analysis module is arranged to determine a lane divider marking type separating a first lane from a second lane for a first road segment based upon a frequency spectrum of image data corresponding to a first area of a road, to determine a lane divider marking type separating the first lane from the second lane for a second road segment based upon a frequency spectrum of image data corresponding to a second area of the road, and to determine a location at which a lane divider marking separating the first lane from the second lane changes type according to a comparison of lane divider marking types for the first and second road segments.

11. The apparatus of claim 10, wherein the apparatus is communicably coupled to a map database and the lane divider analysis module is arranged to store in the map database information indicating one or more geographic locations at which the lane divider marking changes type.

12. The apparatus of claim 11, wherein the information indicating the one or more geographic locations at which the lane divider marking changes type is associated with image data corresponding to each geographic location.

13. The apparatus of claim 10, comprising a storage device for storing image data obtained from one or more cameras of a survey vehicle.

14. The apparatus of claim 10, wherein the apparatus is arranged to receive the image data from one or more cameras mounted on a vehicle.

15. The apparatus of claim 14, wherein the lane divider analysis module is arranged to output a signal to one or more other modules executing on the processor indicative of the change in lane divider marking type.

20. A non-transitory computer-readable medium which stores a set of instructions which when executed performs a method of determining a location at which a lane divider marking changes type, the method executed by the set of instructions comprising:

determining a lane divider marking type separating a first lane from a second lane for a first road segment based upon a frequency spectrum determined by Fourier analysis of first image data corresponding to a first area;

determining a lane divider marking type separating the first lane from the second lane for a second road segment based upon a frequency spectrum determined by Fourier analysis of second image data corresponding to a second area; and

determining a geographic location at which the lane divider marking separating the first lane from the second lane changes type according to a comparison of the lane divider marking types for the first and second road segments.