公开(公告)号：US20240202218A1

公开(公告)日：2024-06-20

申请号：US18081346

申请日：2022-12-14

Applicant: HERE Global B.V.

Inventor： Qi MAO ,  Zhenhua ZHANG

IPC: G06F16/29 ,  G06F16/901 ,  G06F18/213 ,  G06F18/231 ,  G06F18/24

CPC classification number: G06F16/29 ,  G06F16/9024 ,  G06F18/213 ,  G06F18/231 ,  G06F18/24

Abstract: An approach is provided for linear feature detection of cartographic features. The approach, for example, involves receiving a plurality of linear feature detections that represent one or more linear features of a geographic environment and are detected using at least one sensor. The approach also involves clustering the plurality of linear feature detections into at least one cluster and determining that the at least one cluster forms a polygon. The approach further involves cutting the polygon at one or more cut locations to form a plurality of sub-clusters of the plurality of linear feature detections. The approach further involves extracting respective centerlines for the plurality of sub-clusters and connecting the respective centerlines at the one or more cut locations to generate a network graph of the one or more linear features.

公开(公告)号：US20230266142A1

公开(公告)日：2023-08-24

申请号：US17678597

申请日：2022-02-23

Applicant: HERE Global B.V.

Inventor： Zhenhua ZHANG ,  Qi MAO ,  Lin GAN ,  Xiaoying JIN ,  Sanjay Kumar BODDHU

IPC: G01C21/00

CPC classification number: G01C21/3822 ,  G01C21/3859

Abstract: An approach is provided for reconstructing a road linear feature. The approach, for example, involves receiving two or more linear feature detections that respectively represent a linear feature of a road as a line segment delimited by two feature points. The approach also involves map matching the two or more linear feature detections to a road link segment of a geographic database. The approach further involves determining an orientation difference for each of the two or more linear feature detections based on an angle difference between each linear feature detection and a link orientation of the map matched road link segment. The approach further involves determining a feature orientation of the linear feature based on an aggregation of the orientation difference for each linear feature detection. The approach further involves constructing a representation of the linear feature based at least in part on the feature orientation.

公开(公告)号：US20210095971A1

公开(公告)日：2021-04-01

申请号：US17031494

申请日：2020-09-24

Applicant: HERE GLOBAL B.V.

Inventor： Qi MAO ,  Qin CHEN ,  Liming WANG

IPC: G01C21/32 ,  G01C21/34 ,  G06K9/62 ,  G06F16/29

Abstract: An approach is provided for providing a map matcher tolerant to wrong map features. The approach involves, for instance, finding a segment of a probe trajectory containing a plurality of low-speed probe points. The approach also involves forming a line between a first and a last probe point of the segment. The approach further involves calculating a distance from each probe point of the segment to the line. The approach further involves splitting the segment based on comparing the distance to a threshold at a turning point of the segment. The approach further involves creating a new probe trajectory based on a plurality of high-speed probe points in the probe trajectory and the turning point. The approach further involves estimating a heading of the turning point of the segment based on the new trajectory, and then performing a feasibility check between two consecutive probe points of the new trajectory.

公开(公告)号：US20230298362A1

公开(公告)日：2023-09-21

申请号：US17698721

申请日：2022-03-18

Applicant: HERE Global B.V.

Inventor： Zhenhua ZHANG ,  Qi MAO ,  Xiaoying JIN ,  Lin GAN ,  Sanjay Kumar BODDHU

IPC: G06V20/56 ,  G06T7/60

CPC classification number: G06V20/588 ,  G06T7/60 ,  G06T2207/30256

Abstract: An approach is provided for lane width estimation from incomplete lane marking detections of a road lane. The approach, for example, involves generating one or more perpendicular lines respectively from location centers of one or more first lane marking detections. A respective lane marking detection represents at least a portion of a boundary of the road lane as a line delimited by two location data points in accordance with detections by at least one sensor device onboard at least one vehicle. The approach also involves identifying second lane marking detections that each respectively intersect one of the one or more perpendicular lines. The approach further involves selecting one or more candidate lane widths based on one or more respective distances from the location centers to the second lane marking detections. The approach further involves determining an estimated lane width of the road lane based on the one or more candidate lane widths.