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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：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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Patent Agency Ranking
公开(公告)号：US10789771B2
公开(公告)日：2020-09-29
申请号：US16232721
申请日：2018-12-26
Inventor： Wang Zhou , Miao Yan , Yifei Zhan , Xiong Duan , Changjie Ma , Xianpeng Lang , Yonggang Jin
Abstract: 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
Inventor： Xiong Duan , Xianpeng Lang , Wang Zhou , Miao Yan , Yifei Zhan , Changjie Ma , Yonggang Jin
CPC classification number: 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
Abstract: 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：US20190204094A1
公开(公告)日：2019-07-04
申请号：US16231021
申请日：2018-12-21
Inventor： Yonggang Jin , Xianpeng Lang , Changjie Ma
CPC classification number: G01C21/32 , G01C21/3602 , G05D1/0044 , G05D1/0251 , G06K9/00791
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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6.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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公开(公告)号：US20190205665A1
公开(公告)日：2019-07-04
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
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.
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