公开(公告)号：US10909724B2

公开(公告)日：2021-02-02

申请号：US16233863

申请日：2018-12-27

Applicant: Baidu Online Network Technology (Beijing) Co., Ltd

Inventor： Xiong Duan ,  Xianpeng Lang ,  Wang Zhou ,  Miao Yan ,  Yifei Zhan ,  Changjie Ma ,  Yonggang Jin

IPC: G06K9/46 ,  G06K9/72 ,  G06T5/30 ,  G06T7/90 ,  G06T7/149 ,  H04N1/393 ,  G06T7/12 ,  G06K9/34 ,  G06T3/40 ,  G06T11/00

Abstract: Embodiments of the present disclosure provide a method, apparatus, and computer readable storage medium for processing an image. The method described herein includes determining a to-be-processed first region and a to-be-processed second region in an input image, the first region is at least partially filled with a first color, the second region is at least partially filled with a second color, and the first region and the second region are adjacent regions sharing a common boundary region. The method further includes shrinking the first region and the second region, to enable neither of the shrunken first region and the shrunken second region to include the boundary region. The method further comprises expanding the shrunken first region and the shrunken second region, to enable the boundary region to be filled with at least one color of the first color or the second color.

公开(公告)号：US20190206122A1

公开(公告)日：2019-07-04

申请号：US16230671

申请日：2018-12-21

Applicant: Baidu Online Network Technology (Beijing) Co., Ltd.

Inventor： Yifei Zhan ,  Miao Yan ,  Wang Zhou ,  Xiong Duan ,  Xianpeng Lang ,  Changjie Ma

IPC: G06T17/05 ,  G06T17/00

CPC classification number: G06T17/05 ,  G01C21/32 ,  G01S17/023 ,  G01S17/89 ,  G01S17/936 ,  G06T9/00 ,  G06T17/005 ,  G06T2210/36

Abstract: A method, apparatus, and computer readable medium for generating a raster map are provided. The method includes generating a first raster map having a first resolution based on acquired laser point cloud. The method further includes generating a second raster map having a second resolution by merging rasters in the first raster map, the second resolution being lower than the first resolution. In addition, the method further includes storing the first raster map and an association between the first raster map and the second raster map. Some embodiments of the present disclosure are capable of meeting different levels of navigation or positioning requirements by generating raster maps of multiple resolutions. Furthermore, some embodiments of the present disclosure store only the raster map having the highest resolution and the association between the various levels of maps, thereby saving the storage space.

公开(公告)号：US20190205665A1

公开(公告)日：2019-07-04

申请号：US16231015

申请日：2018-12-21

Applicant: Baidu Online Network Technology (Beijing) Co., Ltd.

Inventor： Xiong Duan ,  Wang Zhou ,  Miao Yan ,  Yifei Zhan ,  Changjie Ma ,  Xianpeng Lang ,  Yonggang Jin

IPC: G06K9/00 ,  G06T7/50

CPC classification number: G06K9/00798 ,  G06T7/50 ,  G06T2207/10028 ,  G06T2207/30256

Abstract: The disclosure relates to a method, apparatus, device, and computer readable storage medium for determining a lane line on a road. The method includes: acquiring a first curve as a reference curve, the first curve being obtained by fitting a first set of points selected from sets of points in different areas of the road; iteratively executing operations: selecting a second set of points from the sets of points based on the reference curve; generating a second curve by fitting the second set of points, determining a difference between a fitting degree associated with the reference curve and a fitting degree associated with the second curve, determining whether a convergence condition is met based on the difference, and setting the second curve as the reference curve if not met and determining the lane line of the road based on the second set of points if met.