Localization using road markings
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United States of America Patent
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Nov 8, 2016
Grant Date -
Nov 20, 2014
app pub date -
May 17, 2013
filing date -
May 17, 2013
priority date (Note) -
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status (Latency Note)
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Abstract
One or more embodiments of techniques or systems for creating a road marking classification template and vehicle localization using road markings are provided herein. A road marking classification template database includes templates of training images taken from different navigation environments. A training image with a road marking can be rectified and enhanced. Corners can be calculated for the road marking using the rectified or enhanced image. Locations can be determined for the corners and stored as part of a template. Similarly, a runtime image can also be rectified, enhanced, boosted, etc. Additionally, corners can be calculated for the runtime image and matched against corners of templates from the template database. A location or a pose of a vehicle can be determined using the match. In this way, vehicle localization is provided such that drift or other issues associated with GPS, such as occlusion, are mitigated, for example.
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