Method, apparatus and device for detecting lane lines
US10140529B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Nov 25, 2016 |
| Grant date | Nov 27, 2018 |
| Priority date | — |
| Expiry date | Jan 6, 2037 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N23/635
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A method for detecting a lane line is provided. The method includes: determining candidate lane line regions in a lane image by filtering the lane image; extracting center points for each candidate lane line region; obtaining a fitting curve of each candidate lane line region by performing curve fitting on the center points of each candidate lane line region; classifying the candidate lane line regions as rectilinear and curvilinear candidate lane line regions according to a slope angle of the fitting curve of each candidate lane line region; dividing the candidate lane line regions into groups based on the classifying result; and determining two groups, which meet a first predetermined condition, as target groups, and recognizing candidate lane line regions in the target groups as lane line regions. Besides, an apparatus and a device for detecting a lane line are further provided.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.