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1. WO2020107523 - VEHICLE LANE LINE DETECTION METHOD, VEHICLE, AND COMPUTING DEVICE

Publication Number WO/2020/107523
Publication Date 04.06.2020
International Application No. PCT/CN2018/120048
International Filing Date 10.12.2018
IPC
G06K 9/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G06K 9/44 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
44Smoothing or thinning of the pattern
G06K 9/46 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
46Extraction of features or characteristics of the image
G06K 9/62 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
G06T 5/30 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
20by the use of local operators
30Erosion or dilatation, e.g. thinning
CPC
G06K 9/00798
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
00798Recognition of lanes or road borders, e.g. of lane markings, or recognition of driver's driving pattern in relation to lanes perceived from the vehicle; Analysis of car trajectory relative to detected road
Applicants
  • 上海芯仑光电科技有限公司 CELEPIXEL TECHNOLOGY CO. LTD [CN]/[CN]
Inventors
  • 牟晓正 MOU, Xiaozheng
Agents
  • 北京思睿峰知识产权代理有限公司 BEIJING SRF INTELLECTUAL PROPERTY LLC
Priority Data
201811427450.327.11.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) VEHICLE LANE LINE DETECTION METHOD, VEHICLE, AND COMPUTING DEVICE
(FR) PROCÉDÉ DE DÉTECTION DE LIGNE DE VOIE POUR VÉHICULES, VÉHICULE, ET DISPOSITIF INFORMATIQUE
(ZH) 一种检测车道线的方法和车辆、及计算设备
Abstract
(EN)
A vehicle lane line detection method, a vehicle, a computing device, and a computer readable storage medium. The vehicle lane line detection method comprises the steps of: generating an optical flow image using a series of event data from a dynamic vision sensor (110) coupled to a vehicle (100), the event being triggered by a relative motion of an object in a scene and the dynamic vision sensor (110); determining an initial search area containing a lane line starting point on the basis of the optical flow image; determining a gravity center point of the initial search area; determining a new search area by performing offset processing on the gravity center point; determining a gravity center point of the new search area; repeating the steps of iteratively determining a new search area and determining a gravity center point of the new search area to obtain the gravity center points of the plurality of search areas; and determining a lane line according to the gravity center points of the plurality of search areas.
(FR)
L'invention concerne un procédé de détection de ligne de voie pour véhicules, un véhicule, un dispositif informatique, et un support de stockage lisible par ordinateur. Le procédé de détection de ligne de voie pour véhicules comporte les étapes consistant à: générer une image de flux optique à l'aide d'une série de données d'événement provenant d'un capteur (110) de vision dynamique couplé à un véhicule (100), l'événement étant déclenché par un mouvement relatif d'un objet dans une scène et du capteur (110) de vision dynamique; déterminer une zone de recherche initiale contenant un point de départ de ligne de voie d'après l'image de flux optique; déterminer un point de centre de gravité de la zone de recherche initiale; déterminer une nouvelle zone de recherche en effectuant un traitement de décalage sur le point de centre de gravité; déterminer un point de centre de gravité de la nouvelle zone de recherche; répéter les étapes de détermination itérative d'une nouvelle zone de recherche et de détermination d'un point de centre de gravité de la nouvelle zone de recherche pour obtenir les points de centre de gravité de la pluralité de zones de recherche; et déterminer une ligne de voie selon les points de centre de gravité de la pluralité de zones de recherche.
(ZH)
一种检测车道线的方法、车辆、计算设备和计算机可读存储介质。其中,检测车道线的方法包括步骤:利用来自耦接到车辆(100)的动态视觉传感器(110)的一系列事件数据生成光流图像,事件由场景中的物体和动态视觉传感器(110)的相对运动而触发;基于光流图像确定出包含车道线起始点的初始的搜索区域;确定初始的搜索区域的重心点;通过对该重心点进行偏移处理来确定新的搜索区域;确定新的搜索区域的重心点;重复迭代确定新的搜索区域、和确定新的搜索区域的重心点的步骤,以得到多个搜索区域的重心点;以及根据多个搜索区域的重心点确定出车道线。
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