US 12,266,146 B2
Lane detection and tracking techniques for imaging systems
Pranav Maheshwari, Palo Alto, CA (US); Vahid R. Ramezani, Los Altos, CA (US); Ismail El Houcheimi, San Francisco, CA (US); and Benjamin Englard, Palo Alto, CA (US)
Assigned to Luminar Technologies, Inc., Orlando, FL (US)
Filed by Luminar Technologies, Inc., Orlando, FL (US)
Filed on Jun. 23, 2023, as Appl. No. 18/340,573.
Application 18/340,573 is a continuation of application No. 16/924,139, filed on Jul. 8, 2020, granted, now 11,688,155.
Claims priority of provisional application 62/957,650, filed on Jan. 6, 2020.
Prior Publication US 2023/0334816 A1, Oct. 19, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 1/04 (2006.01); B60W 40/072 (2012.01); G05D 1/00 (2006.01); G06N 20/00 (2019.01); G06T 7/11 (2017.01); G06T 11/20 (2006.01); G06V 10/426 (2022.01); G06V 10/50 (2022.01); G06V 10/764 (2022.01); G06V 10/77 (2022.01); G06V 20/56 (2022.01); G08G 1/01 (2006.01); B60W 60/00 (2020.01)
CPC G06V 10/426 (2022.01) [B60W 40/072 (2013.01); G05D 1/0234 (2013.01); G06N 20/00 (2019.01); G06T 7/11 (2017.01); G06T 11/20 (2013.01); G06V 10/50 (2022.01); G06V 10/765 (2022.01); G06V 10/7715 (2022.01); G06V 20/588 (2022.01); G08G 1/0112 (2013.01); G08G 1/04 (2013.01); B60W 60/0016 (2020.02); B60W 60/0025 (2020.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/00 (2020.02); G05D 1/0088 (2013.01); G06T 2207/30256 (2013.01); G06T 2210/12 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A system, comprising:
an imaging system configured to produce a set of pixels associated with lane markings on a road; and
one or more processors configured to detect boundaries of lanes on the road, including:
receive, from the imaging system, the set of pixels associated with lane markings;
partition the set of pixels into a plurality of groups, each of the plurality of groups associated with one or more control points; and
generate a first spline that traverses the control points of the plurality of groups, the first spline describing a boundary of a lane on the road.