Detecting road edges by fusing aerial image and telemetry evidences
AssigneeGM Global Technology Operations LLC
InventorsOrhan Bulan, Yehenew G. Mengistu, Sheetal Mahesh, David H. Clifford
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Abstract
A method to detect a roadway edge includes calculating a first likelihood of a roadway edge from an aerial image of a roadway by shifting a centerline of the roadway perpendicular to the centerline and overlapping the centerline with image gradients. A second likelihood of the roadway edge is determined using a vehicle telemetry fitting a probability distribution to telemetry points along the roadway. The first likelihood of the roadway edge and the second likelihood of the roadway edge are fused to identify a final likelihood of the roadway edge.
Claims10
A method to detect a roadway edge, comprising:
- calculating a first likelihood of a roadway edge from an aerial image of a roadway by shifting a centerline of the roadway perpendicular to the centerline and overlapping the centerline with image gradients;
- determining a second likelihood of the roadway edge using a vehicle telemetry fitting a probability distribution to telemetry points along the roadway;
- and
- fusing the first likelihood of the roadway edge and the second likelihood of the roadway edge to identify a final likelihood of the roadway edge.
A method to detect a roadway edge, comprising:
- identifying a centerline of a roadway;
- calculating a first likelihood of a roadway edge from an aerial image of the roadway by shifting the centerline of the roadway perpendicular to the centerline;
- determining a second likelihood of the roadway edge using a vehicle telemetry fitting a probability distribution to telemetry points of vehicle telemetry having a first group representing vehicle travel in a first travel direction and a second group representing vehicle travel in a second travel direction opposite to the first travel direction along the roadway;
- and
- fusing a 95th percentile of the first likelihood of the roadway edge and a 95th percentile of the second likelihood of the roadway edge to identify a final likelihood of the roadway edge.
Dependencies are inferred from the claim text.