Patent ID: 11972617
Assignee: SESAME TECHNOLOGIES INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A method of hybrid lane modeling, comprising:
receiving a roadway image;
extracting a set of lane points from the roadway image;
fitting a polynomial line to the set of lane points;
determining a fitted error of the fitted polynomial line;
outputting the polynomial line if the fitted error is less than a predetermined threshold wherein the predetermined threshold is a characterization of lane complexity;
selecting a set of clean lane points from the set of lane points if the fitted error is greater than the predetermined threshold;
removing noisy lane points from the set of lane points to yield the set of clean lane points; and
interpolating a cubic spline line to the set of clean lane points;
and
wherein the set of clean line points is more complex than the polynomial line.