Invention Publication
- Patent Title: METHOD AND DEVICE FOR DETECTING LANE ELEMENTS TO PLAN THE DRIVE PATH OF AUTONOMOUS VEHICLE BY USING A HORIZONTAL FILTER MASK, WHEREIN THE LANE ELEMENTS ARE UNIT REGIONS INCLUDING PIXELS OF LANES IN AN INPUT IMAGE
-
Application No.: EP20151267.0Application Date: 2020-01-10
-
Publication No.: EP3690706A1Publication Date: 2020-08-05
- Inventor: KIM, Kye-Hyeon , KIM, Yongjoong , KIM, Insu , KIM, Hak-Kyoung , NAM, Woonhyun , BOO, SukHoon , SUNG, Myungchul , YEO, Donghun , RYU, Wooju , JANG, Taewoong , JEONG, Kyungjoong , JE, Hongmo , CHO, Hojin
- Applicant: StradVision, Inc.
- Applicant Address: Suite 304-308, 5th Venture-dong 394, Jigok-ro Nam-gu Pohang-si Gyeongsangbuk-do 37668 KR
- Assignee: StradVision, Inc.
- Current Assignee: StradVision, Inc.
- Current Assignee Address: Suite 304-308, 5th Venture-dong 394, Jigok-ro Nam-gu Pohang-si Gyeongsangbuk-do 37668 KR
- Agency: AWA Sweden AB
- Priority: US201916263123 20190131
- Main IPC: G06K9/00
- IPC: G06K9/00 ; G06K9/46
Abstract:
A method for detecting lane elements, which are unit regions including pixels of lanes in an input image, to plan the drive path of an autonomous vehicle by using a horizontal filter mask is provided. The method includes steps of: a computing device acquiring a segmentation score map from a CNN using the input image; instructing a post-processing module, capable of performing data processing at an output end of the CNN, to generate a magnitude map by using the segmentation score map and the horizontal filter mask; instructing the post-processing module to determine each of lane element candidates per each of rows of the segmentation score map by referring to values of the magnitude map; and instructing the post-processing module to apply estimation operations to each of the lane element candidates per each of the rows, to thereby detect each of the lane elements.
Information query