US 11,941,891 B2
Method for detecting lane line, vehicle and computing device
Xiaozheng Mou, Shanghai (CN)
Assigned to OMNIVISION SENSOR SOLUTION (SHANGHAI) CO., LTD., Shanghai (CN)
Filed by OmniVision Sensor Solution (Shanghai) Co., Ltd, Shanghai (CN)
Filed on May 19, 2021, as Appl. No. 17/324,197.
Application 17/324,197 is a continuation of application No. PCT/CN2018/120048, filed on Dec. 10, 2018.
Claims priority of application No. 201811427450.3 (CN), filed on Nov. 27, 2018.
Prior Publication US 2021/0279485 A1, Sep. 9, 2021
Int. Cl. G06V 20/56 (2022.01); B60R 1/00 (2022.01); B60W 30/12 (2020.01)
CPC G06V 20/588 (2022.01) [B60R 1/00 (2013.01); B60W 30/12 (2013.01); B60R 2300/802 (2013.01); B60R 2300/804 (2013.01); B60W 2420/403 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for detecting a lane line to be executed by a computing device, comprising:
generating an optical flow image in accordance with a series of event data from a dynamic vision sensor coupled to a vehicle, each event being triggered by movement of an object in a scenario relative to the dynamic vision sensor, wherein the dynamic vision sensor is arranged at a front end of the vehicle, wherein the method further comprises marking a position of a start point of a left lane line and a position of a start point of a right lane line in advance in accordance with a position of the dynamic vision sensor;
determining an initial search region comprising a start point of the lane line in accordance with the optical flow image, wherein the determining the initial search region comprises: determining an initial first search region comprising the start point of the left lane line in accordance with the optical flow image; and determining an initial second search region comprising the start point of the right lane line in accordance with the optical flow image;
determining a center of gravity of the initial search region, wherein the determining the center of gravity of the initial search region comprises: selecting pixels that meet a first predetermined condition in the initial first search region and the initial second search region; and calculating average coordinates of the selected pixels in each of the initial first search region and the initial second search region to acquire the center of gravity of each of the initial first search region and the initial second search region;
determining a new search region through an offsetting operation on the center of gravity, wherein the determining the new search region comprises: offsetting the center of gravity through a predetermined rule to acquire a center of the new search region; and determining a new first search region and a new second search region in accordance with the center of the new search region;
determining a center of gravity of the new search region, wherein the determining the center of gravity of the new search region comprises: selecting pixels that meet the first predetermined condition in the new first search region and the new second search region; and calculating average coordinates of the selected pixels in each of the new first search region and the new second search region to acquire a center of gravity of each of the new first search region and the new second search region;
repeating the steps of determining a new search region and determining a center of gravity of the new search region iteratively, to acquire centers of gravity of a plurality of search regions, wherein the repeating the steps of determining the new search region and determining the center of gravity of the new search region iteratively comprises: when a new search region meets a second predetermined condition, terminating the iteration, wherein the second predetermined condition comprises that each of an upper boundary of the new first search region and an upper boundary of the new second search region is at a level not higher than a corresponding predetermined position, and the predetermined position is marked in advance in accordance with the position of the dynamic vision sensor; and
determining the lane line in accordance with the centers of gravity of the plurality of search regions.