Method of and apparatus for producing lane information

• US 8,422,736 B2
• Filed: 11/16/2007
• Issued: 04/16/2013
• Est. Priority Date: 11/16/2007
• Status: Active Grant

• Current Assignee: Tomtom Global Content B.V (TomTom NV)
• Original Assignee: Tomtom Global Content B.V (TomTom NV)
• Inventors: Kmiecik, Marcin Michal, Taborowski, Lukasz Piotr
• Primary Examiner(s): Johns, Andrew W
• Assistant Examiner(s): Harandi, Siamak
• Application Number:
  US12/734,118
• Publication Number:
  US 20100266161A1
• Time in Patent Office: 1,978 Days
• Field of Search: None
• US Class Current: 382/103
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/32 Structuring or formatting of map data
• CPC Class Codes: G01C 21/3822 Road feature data, e.g. slope data
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 5/30 Erosion or dilatation, e.g. thinning
• CPC Class Codes: G06T 5/70 Denoising; Smoothing
• 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 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.

Claims

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.

2. Method according to claim 1, wherein the road information is obtained from a map database.

3. Method according to claim 1, wherein the road information is obtained from tracking information generated by a positioning determination means mounted in a moving vehicle driving on the road.

4. Method according to claim 1, wherein the one or more source images are aerial or satellite images.

5. Method according to claim 4, wherein the images are orthorectified images.

6. Method according to claim 1, wherein said one or more cameras include at least one camera having a looking axis along the driving direction of the moving vehicle.

7. Method according to claim 1, wherein said one or more cameras include at least one camera having an oblique looking axis with respect to the driving direction of the moving vehicle.

8. Method according to claim 1, wherein said one or more cameras include at least one camera having a looking axis perpendicular to the driving direction of the moving vehicle.

9. Method according to claim 1, wherein the normalization process generates orthorectified images.

10. Method according to claim 1, wherein the tracking information and the associated position and orientation information of the one or more image sequences have been captured simultaneously from an output signal generated by a positioning determination means mounted in the moving vehicle.

11. Method according to claim 1, wherein transforming includes a rotation operation.

12. Method according to claim 1, wherein applying a filter with asymmetrical mask comprises:

applying firstly on the transformed image a first filter having a structuring element which enlarges the width of a line in a direction perpendicular to the driving direction of the vehicle and secondly a second filter having a structuring element which reduces the length of a line in a direction parallel to the driving direction of the vehicle.

13. Method according to claim 12, wherein the first filter is a maximum filter and the second filter is a minimum filter.

14. Method according to claim 12, wherein applying a filter with asymmetrical mask further comprises:

applying thirdly a third filter having a structuring element which enlarges the length of a line in a direction parallel to the driving direction to its original size.

15. Method according to claim 14, wherein the third filter is a maximum filter.

16. Method according to claim 1, wherein producing lane information comprises:

searching for a solid line in the filtered image; and

,

calculating the position of solid line in dependence of the position and orientation data associated with the one or more source images.

17. Method according to claim 1, wherein producing lane information comprises:

searching for a rectangle in the filtered image; and

,

calculating the position of rectangle in dependence of the position and orientation data associated with the one or more source images.

18. Method according to claim 1, wherein producing lane information comprises:

searching for two or more solid or dashed parallel lines in the filtered image; and

,

computing the width of lanes from the position of the two or more solid or dashed lines in dependence of the position and orientation data associated with the one or more source images.

19. Method according to claims 1, wherein producing lane information comprises:

searching for two or more solid or dashed parallel lines in the filtered image; and

,

computing the number of lanes from the two or more solid or dashed lines.

20. A computer readable non-transitory medium including program segments for, when executed on a computer device, causing the computer device to implement the method of claim 1.

21. An apparatus comprising:

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.