System and method of determining a curve

An apparatus, comprising:

• a memory;
• at least one processor operatively coupled to the memory;
• and
• a set of instructions stored on the memory and configured to be executed by the at least one processor to:
• receive, from a camera coupled to a vehicle, visual data representing an image captured by the camera;
• process the visual data with a neural network, the neural network comprising:
• a curve determination branch,
• an object detection branch, and
• a common trunk, wherein processing operations associated with the common trunk on the visual data produce a common trunk output;
• process the common trunk output with the curve determination branch of the neural network to produce a curve determination data;
• and
• determine a location of a traffic boundary based on the curve determination data.

A computer program product, the computer program product comprising a non-transitory computer-readable medium having program code recorded thereon, the program code comprising program code executable by one or more processors to:

• receive, from a camera coupled to a vehicle, visual data representing an image captured by the camera;
• process the visual data with a neural network, the neural network comprising:
• a curve determination branch,
• an object detection branch, and
• a common trunk, wherein processing operations associated with the common trunk on the visual data produce a common trunk output;
• process the common trunk output with the curve determination branch of the neural network to produce a curve determination data;
• and
• determine a location of a traffic boundary based on the curve determination data.