Patent ID: 9530062
Filing Date: 2016-12-27
CPC Classification: G06K,G06T

Claim Text:
1. An in-vehicle system for estimating and tracking a lane boundary formed of pavement markers disposed on a roadway, the system comprising: a camera located on a vehicle for obtaining image data along the roadway regarding stationary reflective raised pavement markers and non-reflective raised pavement markers as the vehicle advances along the roadway; an image processor for processing frames of image data captured along the roadway over time by the camera and generating a first probabilistic model for the lane boundary; a lidar detector located on the vehicle for obtaining lidar data along the roadway regarding stationary reflective raised pavement markers as the vehicle advances along the roadway; a lidar processor for processing frames of lidar data captured along the roadway over time by the lidar detector and generating a second probabilistic model for the lane boundary; and means for fusing the first probabilistic model and the second probabilistic model to generate a fused probabilistic model and for estimating and tracking the lane boundary based on the fused probabilistic model; wherein the first probabilistic model includes a first mixture of Gaussian distributions; the second probabilistic model includes a second mixture of Gaussian distributions; and the means for fusing the first probabilistic model and the second probabilistic model includes a processor and a non-transitory data storage on which is stored computer code which, when executed on the processor, causes the in-vehicle system to compute a product of the first probabilistic model and the second probabilistic model.