Detecting road edges by fusing aerial image and telemetry evidences

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.