Lane detection method and system based on vision and lidar multi-level fusion
US10929694B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 28, 2020 |
| Grant date | Feb 23, 2021 |
| Priority date | — |
| Expiry date | Sep 28, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/588
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A lane detection method based on vision and lidar multi-level fusion includes: calibrating obtained point cloud data and an obtained video image; constructing a point cloud clustering model by fusing height information, reflection intensity information of the point cloud data, and RGB information of the video image, obtaining point clouds of a road based on the point cloud clustering model, and obtaining a lane surface as a first lane candidate region by performing least square fitting on the point clouds; obtaining four-channel road information by fusing the reflection intensity information of the point cloud data and the RGB information of the video image, inputting the four-channel road information into the semantic segmentation network 3D-LaneNet, and outputting an image of a second lane candidate region; and fusing the first lane candidate region and the second lane candidate region, and combining the two lane candidate regions into a final lane region.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.