Patent ID: 11967132
Assignee: APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECHNOLOGY CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A lane marking detecting method, comprising:
obtaining a video stream comprising a lane marking;
extracting a key image frame from the video stream at a predetermined interval of frames, with an image frame between adjacent key image frames being a non-key image frame;
detecting, for the key image frame, a lane marking according to a feature map of the key image frame; and
detecting, for the non-key image frame, a lane marking according to the non-key image frame and a feature map of a previous key image frame of the non-key image frame;
wherein the detecting, for the key image frame, a lane marking according to a feature map of the key image frame comprises:
feeding the key image frame into a preset lane marking detecting model to obtain the feature map of the key image frame, and detecting a lane marking according to the feature map of the key image frame,
wherein the lane marking detecting model is generated through a knowledge distillation process based on a lane marking sample image in a daytime scenario and a lane marking sample image in a nighttime scenario,
wherein before the feeding the key image frame into a preset lane marking detecting model to obtain the feature map of the key image frame, and detecting a lane marking according to the feature map of the key image frame, the method further comprises:
feeding the lane marking sample image in a daytime scenario and the lane marking sample image in a nighttime scenario into a residual network model and a lightweight network model for a knowledge distillation process, respectively, to obtain a first lane marking recognition result outputted by the residual network model, and a second lane marking recognition result outputted by the lightweight network model; and
iterating over the lightweight network model to obtain the lane marking detecting model based on the first lane marking recognition result and the second lane marking recognition result.