The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 23, 2021
Filed:
Sep. 28, 2020
Tsinghua University, Beijing, CN;
Xinyu Zhang, Beijing, CN;
Jun Li, Beijing, CN;
Zhiwei Li, Beijing, CN;
Huaping Liu, Beijing, CN;
Zhenhong Zou, Beijing, CN;
TSINGHUA UNIVERSITY, Beijing, CN;
Abstract
A lane detection method based on vision and lidar multi-level fusion includes: calibrating obtained point cloud data and an obtained video image; constructing a point cloud clustering model by fusing height information, reflection intensity information of the point cloud data, and RGB information of the video image, obtaining point clouds of a road based on the point cloud clustering model, and obtaining a lane surface as a first lane candidate region by performing least square fitting on the point clouds; obtaining four-channel road information by fusing the reflection intensity information of the point cloud data and the RGB information of the video image, inputting the four-channel road information into the semantic segmentation network 3D-LaneNet, and outputting an image of a second lane candidate region; and fusing the first lane candidate region and the second lane candidate region, and combining the two lane candidate regions into a final lane region.
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