Image and map-based detection of vehicles at intersections

摘要

A system, device, and methods for image and map-based detection of vehicles at intersections. Once example computer-implemented method for detecting objects includes receiving, from the one or more sensors disposed on a vehicle, image data representative of an image and detecting an object on the image. The method further includes identifying a path extending from the vehicle to the detected object on the image and retrieving map data including lane information. The method further includes comparing the path to a representation of the lane information and determining the position of the detected object based on a comparison of the path, representation of the lane information, and the image.

主权项

1. An object detection system, comprising:
one or more sensors disposed on a vehicle; and a computing device in communication with the one or more sensors, comprising:
one or more processors for controlling operations of the computing device; anda memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to:
receive, from the one or more sensors, image data of an external environment of the vehicle;detect an object in the external environment based on the image data;generate a bounding box surrounding the detected object;generate a path extending from the vehicle to the detected object, the path including the bounding box, the path being independent from an intended travel path of the vehicle;retrieve map data including lane information;compare the path to a representation of the lane information;determine a plurality of candidate positions for the detected object located between intersecting areas of the lane information and the path;project the plurality of candidate positions onto the image data; anddetermine a position of the detected object based on a comparison of the one or more candidate positions and the detected object in the image data.