US 12,608,849 B2 · Feature location identification for autonomous systems and applications

Abstract

In various examples, determining locations of road markings or other features for autonomous and semi-autonomous systems and applications is described. Systems and methods are disclosed that use LiDAR data—and/or other sensor data types—to determine the locations of road markings, such as lane lines, within environments. For instance, sensor data, such as image data, may initially be processed in order to determine an initial location associated with a road marking. The LiDAR data may then be used to increase the precision of the initial location associated with the road marking. For example, a LiDAR image(s) may be used to determine the actual location of the road marking, such as the center of paint associated with a lane line. Additionally, the initial location of the road marking may be updated, such as adjusted within a direction, based on the actual location of the road marking.

Claims20

Dependent claims

A method comprising:

determining, based at least on image data, first data representing a first location associated with a road marking within an environment;
determining, based at least on LiDAR data, second data representing intensities associated with points within the environment;
determining, based at least on the first location, a portion of the points that are associated with the road marking;
determining, based at least on a portion of the intensities that are associated with the portion of the points, a second location associated with the road marking within the environment;
and
updating the first location associated with the road marking to include the second location associated with the road marking within the environment.

3 more elements

A system comprising:

one or more processors to:
determine, based at least on sensor data, a first location associated with a road marking located within an environment;
determine, based at least on LiDAR data, data representing intensity values associated with points within an environment;
determine, based at least on the first location associated with the road marking, that a set of the points is associated with the road marking within the environment;
determine, based at least on a portion of the intensity values that are associated with the set of the points, a second location associated with the road marking within the environment;
and
determine to update the first location associated with the road marking to include the second location associated with the road marking within the environment.

4 more elements

Dependencies are inferred from the claim text.

Feature location identification for autonomous systems and applications

Life of this patent

Feature location identification for autonomous systems and applications

Life of this patent

Abstract

Claims20