公开(公告)号：US20240257385A1

公开(公告)日：2024-08-01

申请号：US18563933

申请日：2022-05-26

Applicant: 42DOT INC.

Inventor： Ho Sung KIM ,  Jong Bum CHOI ,  Ja Yong LEE

IPC: G06T7/70 ,  G06V20/56

CPC classification number: G06T7/70 ,  G06V20/56 ,  G06T2207/30252

Abstract: Provided are a method and apparatus for determining a location of an object on a lane map, wherein the method includes acquiring image data captured by a camera mounted on a vehicle, generating feature information regarding a plurality of features included in the image data by performing certain processing on the image data, determining a plurality of features corresponding to a same object in a plurality of pieces of image data, on the basis of a degree of correlation between the plurality of features included in the image data, and determining a location of an object on the lane map, on the basis of location information of the vehicle on the lane map and feature location information on the plurality of pieces of image data.

公开(公告)号：US20240377205A1

公开(公告)日：2024-11-14

申请号：US18563938

申请日：2022-05-26

Applicant: 42DOT INC.

Inventor： Ho Sung KIM ,  Jong Bum CHOI ,  Ja Yong LEE

IPC: G01C21/32

Abstract: The disclosure relates to a method and an apparatus for determining a lane centerline network. A lane centerline network determination method according to an embodiment of the disclosure may include obtaining a driving trajectory of a vehicle by using a global positioning system (GPS) mounted on the vehicle, matching a road map with the driving trajectory, generating road feature information considering the driving trajectory based on an image captured by an image capturing device mounted on the vehicle, determining a position of a section node dividing a road on the road map into a plurality of sections based on the road feature information, determining a lane centerline placement for each section by determining a lane centerline for the traveling lane of the vehicle among a plurality of lanes included in the section based on the driving trajectory, and estimating lane centerlines for remaining lanes, determining a final longitudinal position of the section node based on reliability of the section node for each of driving trajectories through which the vehicle has passed a same road repeatedly, determining a section network connection relationship between the section, a previous section, and a next section based on the lane centerline placement for each section, determining a geometry of the lane centerline placement for each section based on reliability of a section link connecting the section nodes to each other, and generating a lane centerline network based on the section network connection relationship and a lane centerline geometry within the section.