公开(公告)号：US20190156128A1

公开(公告)日：2019-05-23

申请号：US15818230

申请日：2017-11-20

Applicant: HERE Global B.V.

Inventor： Qilin Zhang ,  Xiang Ma ,  Xin Chen ,  Sanjay Sood ,  Mark Tabb ,  Chen Luo

IPC: G06K9/00 ,  G06K9/46 ,  G06K9/62 ,  G08G1/16 ,  G05D1/02

CPC classification number: G06K9/00798 ,  G01C21/34 ,  G05D1/0212 ,  G05D2201/0213 ,  G06K9/4609 ,  G06K9/6256 ,  G06K9/6274 ,  G08G1/167

Abstract: Apparatus and methods are described for generating geometries for stripe-shaped objects. An image is identified that includes a roadway having one or more stripe-shaped objects. The stripe-shaped objects may include lane lines for road edges or lanes of the roadway. The stripe-shaped objects may include a barrier. At least one targeted region within the image is determined. The at least one targeted region is shaped to intersect the one or more stripe-shaped objects and includes a plurality of pixels. An image analysis is performed on the image to determine when the at least one target region includes a pixel in common with the one or more stripe-shaped objects. A geometry is constructed using the pixel in common. The geometry may be used to update a map or subsequently perform localization.

公开(公告)号：US10699135B2

公开(公告)日：2020-06-30

申请号：US15818230

申请日：2017-11-20

Applicant: HERE Global B.V.

Inventor： Qilin Zhang ,  Xiang Ma ,  Xin Chen ,  Sanjay Sood ,  Mark Tabb ,  Chen Luo

IPC: G06K9/00 ,  G06K9/62 ,  G05D1/02 ,  G06K9/46 ,  G08G1/16 ,  G01C21/34

Abstract: Apparatus and methods are described for generating geometries for stripe-shaped objects. An image is identified that includes a roadway having one or more stripe-shaped objects. The stripe-shaped objects may include lane lines for road edges or lanes of the roadway. The stripe-shaped objects may include a barrier. At least one targeted region within the image is determined. The at least one targeted region is shaped to intersect the one or more stripe-shaped objects and includes a plurality of pixels. An image analysis is performed on the image to determine when the at least one target region includes a pixel in common with the one or more stripe-shaped objects. A geometry is constructed using the pixel in common. The geometry may be used to update a map or subsequently perform localization.