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Fused raised pavement marker detection for autonomous driving using lidar and camera
Fused raised pavement marker detection for autonomous driving using lidar and camera
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机译:融合的凸起路面标记检测功能,可使用激光雷达和摄像头进行自动驾驶
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摘要
An in-vehicle system for estimating a lane boundary based on raised pavement markers that mark the boundary. The in-vehicle system includes a camera for obtaining image data regarding reflective raised pavement markers and non-reflective raised pavement markers, an image processor for processing frames of image data captured by the camera, a lidar detector for obtaining lidar data regarding reflective raised pavement markers, and a lidar processor for processing frames of lidar data captured by the lidar detector. The image processor generates a first probabilistic model for the lane boundary and the lidar processor generates a second probabilistic model for the lane boundary. The in-vehicle system fuses the first probabilistic model and the second probabilistic model to generate a fused probabilistic model and estimates the lane boundary based on the fused probabilistic model.
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