公开(公告)号：US20240169740A1

公开(公告)日：2024-05-23

申请号：US17990399

申请日：2022-11-18

Applicant: HERE Global B.V.

Inventor： James Adeyemi FOWE ,  Bassel SADEK

IPC: G06V20/58 ,  G06V10/26 ,  G06V10/764 ,  G06V20/56

CPC classification number: G06V20/58 ,  G06V10/26 ,  G06V10/764 ,  G06V20/588

Abstract: An approach is provided for computer-vision-based object detection. The approach involves, for example, receiving an image captured from a perspective of a vehicle or a device traveling at street level. The approach also involves processing the image using computer vision to detect one or more objects, one or more lane markings, a road surface, or a combination thereof depicted in the image. The approach further involves determining a relative positioning of the one or more objects with respect to the one or more lane markings, the road surface, or a combination thereof. The approach further involves classifying one or more semantic localization features of the one or more objects based on the relative positioning. The approach further involves providing the one or more semantic localization features as an output.

公开(公告)号：US20230202509A1

公开(公告)日：2023-06-29

申请号：US17646029

申请日：2021-12-27

Applicant: HERE GLOBAL B.V.

Inventor： James Adeyemi FOWE ,  Bruce BERNHARDT

IPC: B60W60/00 ,  G01C21/00

CPC classification number: B60W60/001 ,  G01C21/3815

Abstract: A method, apparatus, and computer program product are provided for real-time map-matching of probe data. Methods may include: receiving a plurality of probe data points; receiving an indication of changes to the road network, where the indication of changes includes an addition of new road segments and a removal of closed road segments; map-matching the plurality of probe data points to one or more road segments of the road network based on closest candidate road segments to form map-matched probe data; in response to a closest candidate road segment for one or more probe data points of the plurality of probe data points corresponding to a closed road segment, map-matching the one or more probe data points to a next closest candidate road segment in the map-matched probe data; and updating dynamic map data with the map-matched probe data.

公开(公告)号：US20230194300A1

公开(公告)日：2023-06-22

申请号：US17556287

申请日：2021-12-20

Applicant: HERE GLOBAL B.V.

Inventor： James Adeyemi FOWE

IPC: G01C21/00 ,  G01C21/30 ,  G06F16/906

CPC classification number: G01C21/3819 ,  G01C21/30 ,  G01C21/3841 ,  G06F16/906

Abstract: A method, apparatus and computer program product are provided to automatically detect changes in width of road segments in real-time or near real-time using probe data, such as probe data collected from vehicle and/or mobile devices traveling along a road segment. Probe data collected in real-time or near real-time is partitioned in order to identify width-defining portions of the probe data. The width-defining portions may be representative of the laterally-extreme lanes of the road segment, such as the left-most lane and the right-most lane. The width-defining portions are compared to corresponding width-defining portions of historical probe data to determine measures indicative of whether a road segment has expanded or narrowed. Indications of detected segment width changes may be provided to drivers and/or other systems or users. For example, map data for the road segment may be updated to reflect a detected width expansion or narrowing of the road segment.

公开(公告)号：US20220207993A1

公开(公告)日：2022-06-30

申请号：US17564907

申请日：2021-12-29

Applicant: HERE Global B.V.

Inventor： James Adeyemi FOWE

IPC: G08G1/01 ,  G06N7/00

Abstract: An approach is disclosed for verifying a lane closure using probe data. The approach involves, for example, receiving probe data collected from a probe device traveling a road link. The approach also involves performing a spatial clustering of the probe data with respect to a longitudinal axis of the road link. The approach further involves comparing the spatial clustering of the probe data to a historical spatial clustering of historical probe data of the road link to determine a cluster shift, wherein the cluster shift indicates that a cluster of the spatial clustering has shifted spatially to the left or right relative to at least one other cluster of the historical clustering. The approach also involves detecting a lane closure on the road link based on determining that the cluster shift is greater than a shift distance threshold. The approach further involves providing the detected lane closure as an output.

公开(公告)号：US20240191997A1

公开(公告)日：2024-06-13

申请号：US18077021

申请日：2022-12-07

Applicant: HERE Global B.V.

Inventor： James Adeyemi FOWE ,  Sanskar KATIYAR

IPC: G01C21/30

CPC classification number: G01C21/30

Abstract: An approach provides a signed angle metric for map-matching based on probe data. The approach, for example, involves processing probe data collected from a probe device to determine a probe heading, and the probe heading indicates a direction of travel of the probe device. The approach also involves matching the probe data to a road link. The approach further involves determining a link heading of the road link. The link heading indicates a direction along which the road link is oriented. The approach further involves computing a magnitude of an h-value metric based on a difference between the probe heading and the link heading. The approach further involves determining a sign of the h-value metric based on a position of the probe heading relative to the link heading. The approach further involves providing the h-value metric comprising a combination of the magnitude and the sign as an output.

公开(公告)号：US20240169741A1

公开(公告)日：2024-05-23

申请号：US17990420

申请日：2022-11-18

Applicant: HERE Global B.V.

Inventor： James Adeyemi FOWE ,  Bassel SADEK

IPC: G06V20/58 ,  G06T7/20 ,  G06V10/764

CPC classification number: G06V20/58 ,  G06T7/20 ,  G06V10/764 ,  G06T2207/30252

Abstract: An approach is provided for computer-vision-based object motion detection. The approach involves receiving a video sequence captured from a perspective of a vehicle/device traveling at street level. The approach also involves processing frames of the videos sequence using computer vision to determine semantic localization feature(s) associated with object(s) detected in the frames. The approach further involves clustering the object(s) into object cluster(s) across the frames based on the semantic localization feature(s). The approach further involves creating an object vector connecting the object(s) in a given cluster of the object cluster(s) across the frames. The approach further involves computing an angle between the object vector and a reference vector associated with a movement of the vehicle/device across the frames. The approach further involves classifying a motion of the object(s) relative to the vehicle/device based on the angle.

公开(公告)号：US20230194303A1

公开(公告)日：2023-06-22

申请号：US17556269

申请日：2021-12-20

Applicant: HERE GLOBAL B.V.

Inventor： James Adeyemi FOWE

IPC: G01C21/00 ,  G01C21/36 ,  G06F16/28

CPC classification number: G01C21/3841 ,  G01C21/3819 ,  G01C21/3691 ,  G06F16/285 ,  G08G1/0112

Abstract: A method, apparatus and computer program product are provided to automatically detect changes in width of road segments in real-time or near real-time using probe data, such as probe data collected from vehicle and/or mobile devices traveling along a road segment. Probe data collected in real-time or near real-time is partitioned in order to identify width-defining portions of the probe data. The width-defining portions may be representative of the laterally-extreme lanes of the road segment, such as the left-most lane and the right-most lane. The width-defining portions are compared to corresponding width-defining portions of historical probe data to determine measures indicative of whether a road segment has expanded or narrowed. Indications of detected segment width changes may be provided to drivers and/or other systems or users. For example, map data for the road segment may be updated to reflect a detected width expansion or narrowing of the road segment.