FUSED RAISED PAVEMENT MARKER DETECTION FOR AUTONOMOUS DRIVING USING LIDAR AND CAMERA

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.

主权项

1. An in-vehicle system for estimating a lane boundary formed of raised pavement markers disposed on a roadway, the system comprising:
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 and generating a first probabilistic model for the lane boundary; a lidar detector for obtaining lidar data regarding reflective raised pavement markers; a lidar processor for processing frames of lidar data captured by the lidar detector and generating a second probabilistic model for the lane boundary; and means for fusing the first probabilistic model and the second probabilistic model to generate a fused probabilistic model and for estimating the lane boundary based on the fused probabilistic model.