METHOD FOR IMAGE-BASED VEHICLE LOCALIZATION
First Claim
1. A method for image-based vehicle localization comprising:
- generating, at a vehicle, an estimated pitch and an estimated roll of the vehicle from inertial measurement unit data;
capturing, at an image capture system of the vehicle, road surface image data of a road surface;
detecting, using a dynamic model that accounts for distortion in the road surface image data due to pitch and roll of the vehicle, a set of lane markers based on the road surface image data, the estimated pitch, and the estimated roll;
generating a local map based on the set of detected lane markers;
wherein generating the local map comprises identifying a lane demarcated by the set of detected lane markers; and
controlling the vehicle according to the local map;
wherein controlling the vehicle comprises keeping the vehicle within the lane during vehicular travel.
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Abstract
A method for image-based vehicle localization includes measuring, at a vehicle, a position and a heading of the vehicle; capturing, at an image capture system of the vehicle, road surface image data of a road surface; processing the road surface image data to correct for distortion in the road surface image data due to pitch and roll of the vehicle; performing feature detection on the processed road surface image data to detect lane markers on the road surface; generating a local map based on the detected lane markers; wherein generating the local map comprises identifying a lane demarcated by the detected lane markers; and controlling the vehicle according to the local map.
63 Citations
20 Claims
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1. A method for image-based vehicle localization comprising:
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generating, at a vehicle, an estimated pitch and an estimated roll of the vehicle from inertial measurement unit data; capturing, at an image capture system of the vehicle, road surface image data of a road surface; detecting, using a dynamic model that accounts for distortion in the road surface image data due to pitch and roll of the vehicle, a set of lane markers based on the road surface image data, the estimated pitch, and the estimated roll; generating a local map based on the set of detected lane markers;
wherein generating the local map comprises identifying a lane demarcated by the set of detected lane markers; andcontrolling the vehicle according to the local map;
wherein controlling the vehicle comprises keeping the vehicle within the lane during vehicular travel. - View Dependent Claims (2, 3)
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4. A method for image-based vehicle localization comprising:
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measuring, at a vehicle, a position and a heading of the vehicle; capturing, at an image capture system of the vehicle, road surface image data of a road surface; processing the road surface image data to correct for distortion in the road surface image data due to pitch and roll of the vehicle, resulting in processed road surface image data; performing feature detection on the processed road surface image data to detect lane markers on the road surface; generating a local map based on the detected lane markers;
wherein generating the local map comprises identifying a lane demarcated by the detected lane markers; andcontrolling the vehicle according to the local map;
wherein controlling the vehicle comprises keeping the vehicle within the lane during vehicular travel. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification