Patent ID: 9081385
Filing Date: 2015-07-14
Classification: G05D,G06K

Abstract:
1. A method comprising: receiving, from an image-capture device coupled to a vehicle, an image of a road of travel of the vehicle; determining that a pixel in the image meets a first condition related to whether an intensity of the pixel exceeds a threshold intensity, wherein the threshold intensity is associated with a predetermined intensity of lane markers; determining that the pixel meets a second condition related to whether respective intensities of pixels within a threshold number of pixels from the pixel in a lateral direction are substantially equal to the intensity of the pixel, wherein the lateral direction is perpendicular to a direction of travel of the vehicle on the road; determining that the pixel meets a third condition related to whether respective intensities of pixels within a threshold number of pixels from the pixel in a longitudinal direction are substantially equal to the intensity of the pixel, wherein the longitudinal direction is parallel to the direction of travel of the vehicle on the road; determining that the pixel meets a fourth condition related to whether respective intensities of pixels beyond a respective number of pixels from the pixel in the lateral and longitudinal directions are lower than the intensity of the pixel; determining, based on the pixel meeting the first condition, the second condition, the third condition, and the fourth condition, a likelihood that the pixel belongs to a portion of the image depicting a lane marker on the road; and controlling, using a computing device, the vehicle based at least on the likelihood.