Lane detection and distance estimation using single-view geometry
US11798187B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 11, 2021 |
| Grant date | Oct 24, 2023 |
| Priority date | — |
| Expiry date | Feb 3, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30256
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Disclosed are methods, devices, and computer-readable media for detecting lanes and objects in image frames of a monocular camera. In one embodiment, a method is disclosed comprising receiving a sample set of image frames; detecting a plurality of markers in the sample set of image frames using a convolutional neural network (CNN); fitting lines based on the plurality of markers; detecting a plurality of vanishing points based on the lines; identifying a best fitting horizon for the sample set of image frames via a RANSAC algorithm; computing an inverse perspective mapping (IPM) based on the best fitting horizon; and computing a lane width estimate based on the sample set of image frames using the IPM in a rectified view and the parallel line fitting.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.