Image based lane marking classification

US10943131B2 · kind B2 · utility

Assignee

• APTIV TECHNOLOGIES AG · BB

Inventors

• Yu Su · Wuppertal, DE
• Andre Paus · Wuppertal, DE
• Kun Zhao · Sichuan, CN
• Mirko Meuter · Gruiten, DE
• Christian Nunn · Hückeswagen, DE

Key dates

• Filing date: May 10, 2019
• Grant date: Mar 9, 2021
• Expiry date: Jul 3, 2039

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30256
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

An image processing method includes: determining a candidate track in an image of a road, wherein the candidate track is modelled as a parameterized line or curve corresponding to a candidate lane marking in the image of a road; dividing the candidate track into a plurality of cells, each cell corresponding to a segment of the candidate track; determining at least one marklet for a plurality of said cells, wherein each marklet of a cell corresponds to a line or curve connecting left and right edges of the candidate lane marking; determining at least one local feature of each of said plurality of cells based on characteristics of said marklets; determining at least one global feature of the candidate track by aggregating the local features of the plurality of cells; and determining if the candidate lane marking represents a lane marking based on the at least one global feature.