Road geometry estimation for vehicles

Abstract

The invention relates to a method for determining a representation of one or more road objects of a road for a vehicle traveling on the road. The method includes, for each time step out of a plurality of consecutive time steps, encoding images output from the one or more cameras of a vehicle using machine-learning algorithms trained to output image features of road objects depicted in an image provided as input to the machine-learning algorithms. The method further includes transforming a plurality of image features included in the encoded images to a Bird's Eye View (BEV) representation of the plurality of image features. The method also includes decoding the BEV representation to extract a set of object embeddings using transformer-based machine-learning algorithms. Further, the method includes outputting a position and class of each road object of the one or more road objects by decoding the extracted set of object embeddings.