WO2023126097A1 - Procédé et appareil de génération de réalité de terrain pour des limites de circulation - Google Patents
Procédé et appareil de génération de réalité de terrain pour des limites de circulation Download PDFInfo
- Publication number
- WO2023126097A1 WO2023126097A1 PCT/EP2022/081493 EP2022081493W WO2023126097A1 WO 2023126097 A1 WO2023126097 A1 WO 2023126097A1 EP 2022081493 W EP2022081493 W EP 2022081493W WO 2023126097 A1 WO2023126097 A1 WO 2023126097A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image information
- vehicle
- ground truth
- boundaries
- generating
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000004590 computer program Methods 0.000 claims abstract description 14
- 238000006243 chemical reaction Methods 0.000 claims description 29
- 230000004927 fusion Effects 0.000 claims description 23
- 238000000605 extraction Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
- 238000003708 edge detection Methods 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
- 238000010200 validation analysis Methods 0.000 description 4
- 244000025254 Cannabis sativa Species 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002372 labelling Methods 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013450 outlier detection Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
Abstract
La présente invention concerne un procédé de génération d'une réalité de terrain pour des limites de circulation. Le procédé consiste à : recevoir des premières informations d'image concernant l'environnement d'un véhicule à partir de caméras embarquées de premier type ; extraire des secondes informations d'image concernant des limites de circulation à partir des premières informations d'image ; et générer une réalité de terrain pour les limites de circulation sur la base au moins des secondes informations d'image. La réalité de terrain est utilisée pour valider une valeur détectée concernant les limites de circulation collectées par une caméra embarquée de second type. De plus, la présente invention concerne un appareil pour générer une réalité de terrain pour des limites de circulation, un support de stockage informatique et un véhicule de produit programme informatique.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111662570.3A CN116416591A (zh) | 2021-12-31 | 2021-12-31 | 用于行车边界的参考值生成方法及设备 |
| CN202111662570.3 | 2021-12-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2023126097A1 true WO2023126097A1 (fr) | 2023-07-06 |
Family
ID=84365686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2022/081493 WO2023126097A1 (fr) | 2021-12-31 | 2022-11-10 | Procédé et appareil de génération de réalité de terrain pour des limites de circulation |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116416591A (fr) |
| WO (1) | WO2023126097A1 (fr) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200324795A1 (en) * | 2019-04-12 | 2020-10-15 | Nvidia Corporation | Neural network training using ground truth data augmented with map information for autonomous machine applications |
-
2021
- 2021-12-31 CN CN202111662570.3A patent/CN116416591A/zh active Pending
-
2022
- 2022-11-10 WO PCT/EP2022/081493 patent/WO2023126097A1/fr unknown
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200324795A1 (en) * | 2019-04-12 | 2020-10-15 | Nvidia Corporation | Neural network training using ground truth data augmented with map information for autonomous machine applications |
Non-Patent Citations (3)
| Title |
|---|
| BING MA ET AL: "Simultaneous Detection of Lane and Pavement Boundaries Using Model-Based Multisensor Fusion", IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, IEEE, PISCATAWAY, NJ, USA, vol. 1, no. 3, 1 September 2000 (2000-09-01), XP011028376, ISSN: 1524-9050 * |
| MURESAN MIRCEA PAUL ET AL: "Stabilization and Validation of 3D Object Position Using Multimodal Sensor Fusion and Semantic Segmentation", SENSORS, vol. 20, no. 4, 18 February 2020 (2020-02-18), pages 1110, XP055982375, DOI: 10.3390/s20041110 * |
| WEI ZHOU ET AL: "Automated Evaluation of Semantic Segmentation Robustness for Autonomous Driving", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 24 October 2018 (2018-10-24), XP080927273 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116416591A (zh) | 2023-07-11 |
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