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:
Jan. 11, 2022
Filed:
Jul. 08, 2021
Tsinghua University, Beijing, CN;
Xinyu Zhang, Beijing, CN;
Jun Li, Beijing, CN;
Zhiwei Li, Beijing, CN;
Qifan Tan, Beijing, CN;
Li Wang, Beijing, CN;
TSINGHUA UNIVERSITY, Beijing, CN;
Abstract
A lane line detection method using a fusion network based on an attention mechanism, and a terminal device are provided. The method includes: synchronously acquiring natural images and point cloud data of a road surface; and inputting the natural images and the point cloud data into a pre-built and trained fusion network to output a lane line detection result. Time series frames and an attention mechanism are added to the fusion network to perform information fusing on the point cloud data and the natural images. Specifically, continuous frames are used to improve detection network performance to deal with complex situations such as label loss and vehicle being blocked; low-dimensional features are stitched with high-dimensional features by Skip Connection to make up for image detail information that is continuously lost as the network goes deeper, and the Decoder module is used to restore image dimensions to obtain a final result.