FUSED RAISED PAVEMENT MARKER DETECTION FOR AUTONOMOUS DRIVING USING LIDAR AND CAMERA
First Claim
1. An in-vehicle system for estimating a lane boundary formed of raised pavement markers disposed on a roadway, the system comprising:
- a camera for obtaining image data regarding reflective raised pavement markers and non-reflective raised pavement markers;
an image processor for processing frames of image data captured by the camera and generating a first probabilistic model for the lane boundary;
a lidar detector for obtaining lidar data regarding reflective raised pavement markers;
a lidar processor for processing frames of lidar data captured by the lidar detector and generating a second probabilistic model for the lane boundary; and
means for fusing the first probabilistic model and the second probabilistic model to generate a fused probabilistic model and for estimating the lane boundary based on the fused probabilistic model.
1 Assignment
0 Petitions
Accused Products
Abstract
An in-vehicle system for estimating a lane boundary based on raised pavement markers that mark the boundary. The in-vehicle system includes a camera for obtaining image data regarding reflective raised pavement markers and non-reflective raised pavement markers, an image processor for processing frames of image data captured by the camera, a lidar detector for obtaining lidar data regarding reflective raised pavement markers, and a lidar processor for processing frames of lidar data captured by the lidar detector. The image processor generates a first probabilistic model for the lane boundary and the lidar processor generates a second probabilistic model for the lane boundary. The in-vehicle system fuses the first probabilistic model and the second probabilistic model to generate a fused probabilistic model and estimates the lane boundary based on the fused probabilistic model.
-
Citations
20 Claims
-
1. An in-vehicle system for estimating a lane boundary formed of raised pavement markers disposed on a roadway, the system comprising:
-
a camera for obtaining image data regarding reflective raised pavement markers and non-reflective raised pavement markers; an image processor for processing frames of image data captured by the camera and generating a first probabilistic model for the lane boundary; a lidar detector for obtaining lidar data regarding reflective raised pavement markers; a lidar processor for processing frames of lidar data captured by the lidar detector and generating a second probabilistic model for the lane boundary; and means for fusing the first probabilistic model and the second probabilistic model to generate a fused probabilistic model and for estimating the lane boundary based on the fused probabilistic model. - View Dependent Claims (2, 3, 4, 5)
-
-
6. An in-vehicle system for estimating a lane boundary on a roadway, the system comprising:
-
one or more detectors that capture image data and lidar data of raised pavement markers on the roadway; a processor and a non-transitory data storage on which is stored computer code which, when executed on the processor, causes the in-vehicle system to; generate a first probabilistic model for the lane boundary based on the image data; generate a second probabilistic model for the lane boundary based on the lidar data; fuse the first probabilistic model and the second probabilistic model to generate a fused probabilistic model; and estimate the lane boundary based on the fused probabilistic model. - View Dependent Claims (7, 8, 9, 10, 12, 13)
-
-
11. The in-vehicle system of claim 11, wherein the first probabilistic model and the second probabilistic model comprise respective mixtures of Gaussian distributions.
-
14. A method for estimating a lane boundary on a roadway, the method comprising:
-
receiving image data; receiving lidar data; generating a first probabilistic model for the lane boundary based on the image data; generating a second probabilistic model for the lane boundary based on the lidar data; fusing the first probabilistic model and the second probabilistic model to generate a fused probabilistic model; and estimating the lane boundary based on the fused probabilistic model. - View Dependent Claims (15, 16, 17, 18, 19, 20)
-
Specification