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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
发明人： Xiong Duan , Wang Zhou , Miao Yan , Yifei Zhan , Changjie Ma , Xianpeng Lang , Yonggang Jin
摘要： 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：US10783368B2
公开(公告)日：2020-09-22
申请号：US16230706
申请日：2018-12-21
发明人： Yifei Zhan , Miao Yan , Wang Zhou , Xianpeng Lang , Xiong Duan , Changjie Ma
摘要： 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
发明人： Yifei Zhan , Miao Yan , Wang Zhou , Xianpeng Lang , Xiong Duan , Changjie Ma
摘要： 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：US10853687B2
公开(公告)日：2020-12-01
申请号：US16232720
申请日：2018-12-26
发明人： Miao Yan , Yifei Zhan , Wang Zhou , Xiong Duan , Xianpeng Lang , Changjie Ma
摘要： 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：US11067669B2
公开(公告)日：2021-07-20
申请号：US16232756
申请日：2018-12-26
发明人： Miao Yan , Yifei Zhan , Xianpeng Lang , Wang Zhou , Xiong Duan , Changjie Ma
摘要： Embodiments of the present disclosure can include a method and apparatus for adjusting a point cloud data acquisition trajectory, and a computer readable medium. According to the embodiments of the present disclosure, a trajectory may be adjusted based on a characteristic extracted from point cloud data. A parameter that needs to be adjusted may be selected according to the property of the characteristic, instead of adjusting all parameters at the same time. In addition, according to the embodiments of the present disclosure, when trajectories are fused, the sequence relationships between the trajectory points in the trajectories can be considered, which avoids that a loop cannot be closed.
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公开(公告)号：US11037305B2
公开(公告)日：2021-06-15
申请号：US16235668
申请日：2018-12-28
发明人： Yifei Zhan , Miao Yan , Wang Zhou , Xiong Duan , Xianpeng Lang , Changjie Ma
摘要： Implementations of the present disclosure can include a method and apparatus for processing point cloud data. Specifically, the method for processing point cloud data can be provided, including: acquiring a first frame and a second frame respectively from the point cloud data; extracting a first candidate object from the first frame and a second candidate object corresponding to the first candidate object from the second frame, respectively; determining a first location of the first candidate object and a second location of the second candidate object in a coordinate system of the point cloud data, respectively; and identifying any one of the first candidate object and the second candidate object as a moving object, in response to an offset between the first location and the second location.
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公开(公告)号：US10970864B2
公开(公告)日：2021-04-06
申请号：US16232797
申请日：2018-12-26
发明人： Miao Yan , Yifei Zhan , Wang Zhou , Xiong Duan , Xianpeng Lang , Changjie Ma
摘要： A method for generating a point cloud data recovery model includes: acquiring at least one 2D image associated with a first point cloud data frame; partitioning the first point cloud data frame into at least one point cloud data set based on attributes of objects in the 2D image; and for each point cloud data set: determining a matching image of the first point cloud data frame from the at least one 2D image; determining 3D position data of a pixel point in the matching image based on the first point cloud data frame and at least one second point cloud data frame; and using 2D position data and the 3D position data of corresponding pixel points in the matching image as training input data and output data of a training model to generate a point cloud data recovery model for the object corresponding to the point cloud data set.
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公开(公告)号：US10789771B2
公开(公告)日：2020-09-29
申请号：US16232721
申请日：2018-12-26
发明人： Wang Zhou , Miao Yan , Yifei Zhan , Xiong Duan , Changjie Ma , Xianpeng Lang , Yonggang Jin
摘要： A method and apparatus for fusing point cloud data, and a computer readable storage medium are provided. Some embodiments of the method can include: acquiring a first image and a second image, the first image and the second image being respectively associated with a first frame of point cloud data and a second frame of point cloud data acquired for a given scene; determining a point cloud movement matrix between the first frame of point cloud data and the second frame of point cloud data on the basis of the first image and the second image; and fusing the first frame of point cloud data with the second frame of point cloud data on the basis of the point cloud movement matrix.
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公开(公告)号：US20190205664A1
公开(公告)日：2019-07-04
申请号：US16230998
申请日：2018-12-21
发明人： Xiong Duan , Xianpeng Lang , Wang Zhou , Miao Yan , Yifei Zhan , Changjie Ma , Yonggang Jin
CPC分类号： G06K9/00798 , G06K9/03 , G06K9/38 , G06K9/40 , G06K9/48 , G06K9/6256 , G06K9/6273 , G06K2009/363 , G06T5/002 , G06T7/13 , G06T7/74 , G06T2207/30256 , G08G1/167
摘要： According to the exemplary embodiments of the present disclosure, a method and apparatus for detecting a lane line, and a medium are provided. A method for generating a lane line detection model includes: detecting a lane line in an original image to generate a first image associated with the detected lane line; acquiring a second image generated based on the original image and associated with a marked lane line; generating at least one tag indicating whether the detected lane line is accurate, based on the first image and the second image; and training a classifier model for automatically identifying the lane line, based on the first image and the at least one tag. In such case, the lane line detection may be achieved in a simple and effective way.
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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
发明人： Yifei Zhan , Miao Yan , Wang Zhou , Xiong Duan , Xianpeng Lang , Changjie Ma
摘要： 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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