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公开(公告)号：US10885352B2
公开(公告)日：2021-01-05
申请号：US16231015
申请日：2018-12-21
Inventor： Xiong Duan , Wang Zhou , Miao Yan , Yifei Zhan , Changjie Ma , Xianpeng Lang , Yonggang Jin
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.
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公开(公告)号：US10395341B2
公开(公告)日：2019-08-27
申请号：US15739801
申请日：2015-11-19
Inventor： Guofu Xie , Rui Al , Li Liu , Wenbo Hou , Xianpeng Lang
Abstract: The present disclosure provides a panoramic image generation method and apparatus for a user terminal. The panoramic image generation method for a user terminal includes: obtaining a plurality of images shot by a user terminal, determining an adjacence relationship among the plurality of images, and performing feature matching on adjacent images to obtain matched feature-point-pairs; obtaining an optimized camera parameter according to the matched feature-point-pairs and an initial camera parameter; performing a color adjustment on the adjacent images to obtain color adjusted adjacent images; and mosaicking the color adjusted adjacent images according to the optimized camera parameter to generate a panoramic image.
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公开(公告)号：US10783368B2
公开(公告)日：2020-09-22
申请号：US16230706
申请日：2018-12-21
Inventor： Yifei Zhan , Miao Yan , Wang Zhou , Xianpeng Lang , Xiong Duan , Changjie Ma
Abstract: A method and apparatus for identifying an intersection in an electronic map, and a computer readable medium are provided. An embodiment of the method includes: acquiring boundary information related to road boundaries from an electronic map; determining a topological relationship between the road boundaries in an area having a predetermined size in the electronic map based on the boundary information; and determining a distribution of an intersection in the area based on the topological relationship. The apparatus corresponding to the method, the device implementing the method of the present disclosure, and the computer readable medium are also provided. Through the technical solutions, the intersection may be automatically identified by detecting the road boundaries, which improves the efficiency of producing a high-precision map, and has the advantage of high accurate recall rate, strong universality, or simple method.
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公开(公告)号：US20190205640A1
公开(公告)日：2019-07-04
申请号：US16230706
申请日：2018-12-21
Inventor： Yifei Zhan , Miao Yan , Wang Zhou , Xianpeng Lang , Xiong Duan , Changjie Ma
Abstract: A method and apparatus for identifying an intersection in an electronic map, and a computer readable medium are provided. An embodiment of the method includes: acquiring boundary information related to road boundaries from an electronic map; determining a topological relationship between the road boundaries in an area having a predetermined size in the electronic map based on the boundary information; and determining a distribution of an intersection in the area based on the topological relationship. The apparatus corresponding to the method, the device implementing the method of the present disclosure, and the computer readable medium are also provided. Through the technical solutions, the intersection may be automatically identified by detecting the road boundaries, which improves the efficiency of producing a high-precision map, and has the advantage of high accurate recall rate, strong universality, or simple method.
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公开(公告)号：US20170186212A1
公开(公告)日：2017-06-29
申请号：US15301356
申请日：2015-12-28
Inventor： Rui Ai , Tangwu DU , Shaoyan Jiang , Li Lui , Xianpeng Lang
CPC classification number: G06T15/005 , G06F16/54 , G06F16/5866 , G06F16/951 , G06T15/205 , G06T19/003
Abstract: The present application discloses a picture presentation method and apparatus. A specific implementation of the method includes: acquiring an original picture set encompassing a same scene; selecting, from the original picture set, a reconstruction picture set for reconstructing a three-dimensional structure of the scene, and reconstructing the three-dimensional structure of the scene by using reconstruction pictures in the reconstruction picture set, the three-dimensional structure of the scene comprising three-dimensional feature points; selecting a to-be-presented picture set from the reconstruction picture set, a number of the three-dimensional feature points included in the to-be-presented picture set being above a preset threshold; determining a presentation order of to-be-presented pictures in the to-be-presented picture set, and generating a picture presentation sequence based on the presentation order of the to-be-presented pictures; and presenting pictures in the picture presentation sequence continuously. By acquiring pictures encompassing a same scene, determining a presentation order of the pictures based on the association relationship between the pictures, and continuously presenting the pictures according to the presentation order, this implementation improves the spatial continuity of the scene in the pictures when the pictures are presented.
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Patent Agency Ranking
公开(公告)号：US11105638B2
公开(公告)日：2021-08-31
申请号：US16231021
申请日：2018-12-21
Inventor： Yonggang Jin , Xianpeng Lang , Changjie Ma
Abstract: A method, apparatus, and computer readable storage medium for updating an electronic map are disclosed. A method for updating an electronic map includes: acquiring a group of collected images collected by a collection entity and associated with a target map element in the electronic map, the target map element having a target image and a target location; executing inter-group matching between the group of collected images and the target image; executing intra-group matching among the group of collected images; and updating a location of a to-be-updated map element associated with the target map element based on the inter-group matching, the intra-group matching and the target location. In this way, the positioning precision of map elements can be improved.
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公开(公告)号：US10853687B2
公开(公告)日：2020-12-01
申请号：US16232720
申请日：2018-12-26
Inventor： Miao Yan , Yifei Zhan , Wang Zhou , Xiong Duan , Xianpeng Lang , Changjie Ma
Abstract: Embodiments of the present disclosure can provide a method, apparatus and computer readable storage medium for determining a matching relationship between point cloud data. The method can include extracting a first characteristic associated with first point cloud data and a second characteristic associated with second point cloud data. The first point cloud data and the second point cloud data are acquired for the same object. The method can further include performing characteristic matching between the first characteristic and the second characteristic. In addition, the method can further include determining, based on the characteristic matching, a matching relationship between the first point cloud data and the second point cloud data.
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公开(公告)号：US10410397B2
公开(公告)日：2019-09-10
申请号：US15301356
申请日：2015-12-28
Inventor： Rui Ai , Tangwu Du , Zhaoyan Jiang , Li Liu , Xianpeng Lang
Abstract: The present application discloses a picture presentation method and apparatus. A specific implementation of the method includes: acquiring an original picture set encompassing a same scene; selecting, from the original picture set, a reconstruction picture set for reconstructing a three-dimensional structure of the scene, and reconstructing the three-dimensional structure of the scene by using reconstruction pictures in the reconstruction picture set, the three-dimensional structure of the scene comprising three-dimensional feature points; selecting a to-be-presented picture set from the reconstruction picture set, a number of the three-dimensional feature points included in the to-be-presented picture set being above a preset threshold; determining a presentation order of to-be-presented pictures in the to-be-presented picture set, and generating a picture presentation sequence based on the presentation order of the to-be-presented pictures; and presenting pictures in the picture presentation sequence continuously. By acquiring pictures encompassing a same scene, determining a presentation order of the pictures based on the association relationship between the pictures, and continuously presenting the pictures according to the presentation order, this implementation improves the spatial continuity of the scene in the pictures when the pictures are presented.
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公开(公告)号：US11030803B2
公开(公告)日：2021-06-08
申请号：US16230671
申请日：2018-12-21
Inventor： Yifei Zhan , Miao Yan , Wang Zhou , Xiong Duan , Xianpeng Lang , Changjie Ma
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.
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10.发明授权公开(公告)号：US10909724B2
公开(公告)日：2021-02-02
申请号：US16233863
申请日：2018-12-27
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.
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