Lane/object detection and tracking perception system for autonomous vehicles

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• pre-processing a captured image perceiving an environment surrounding the ADV obtained from an image capturing device of the ADV;
• processing the pre-processed image with a corresponding depth image captured by a ranging device of the ADV using a machine learning model to detect vehicle lanes;
• post-processing the detected vehicle lanes to track the vehicle lanes relative to the ADV;
• and
• generating a trajectory based on a lane line of the tracked vehicle lanes to control the ADV autonomously according to the trajectory.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including:
• pre-processing a captured image perceiving an environment surrounding the ADV obtained from an image capturing device of the ADV;
• processing the pre-processed image with a corresponding depth image captured by a ranging device of the ADV using a machine learning model to detect vehicle lanes;
• post-processing the detected vehicle lanes to track the vehicle lanes relative to the ADV;
• and
• generating a trajectory based on a lane line of the tracked vehicle lanes to control the ADV autonomously according to the trajectory.