公开(公告)号：US12131556B2

公开(公告)日：2024-10-29

申请号：US17234475

申请日：2021-04-19

Applicant: NVIDIA Corporation

Inventor： Josh Abbott ,  Miguel Sainz Serra ,  Zhaoting Ye ,  David Nister

IPC: G06T7/12 ,  G06T7/70 ,  G06T11/20 ,  G06V20/56

CPC classification number: G06V20/588 ,  G06T7/12 ,  G06T7/70 ,  G06T11/20 ,  G06T2207/20084 ,  G06T2207/20132 ,  G06T2207/30256 ,  G06T2210/12

Abstract: In various examples, object fence corresponding to objects detected by an ego-vehicle may be used to determine overlap of the object fences with lanes on a driving surface. A lane mask may be generated corresponding to the lanes on the driving surface, and the object fences may be compared to the lanes of the lane mask to determine the overlap. Where an object fence is located in more than one lane, a boundary scoring approach may be used to determine a ratio of overlap of the boundary fence, and thus the object, with each of the lanes. The overlap with one or more lanes for each object may be used to determine lane assignments for the objects, and the lane assignments may be used by the ego-vehicle to determine a path or trajectory along the driving surface.