US 11,972,606 B2
Autonomous vehicle lane boundary detection systems and methods
Min Bai, Toronto (CA); Gellert Sandor Mattyus, Toronto (CA); Namdar Homayounfar, Toronto (CA); Shenlong Wang, Toronto (CA); Shrinidihi Kowshika Lakshmikanth, Toronto (CA); and Raquel Urtasun, Toronto (CA)
Assigned to UATC, LLC, Mountain View, CA (US)
Filed by UATC, LLC, Mountain View, CA (US)
Filed on May 8, 2023, as Appl. No. 18/313,794.
Application 18/313,794 is a continuation of application No. 17/359,031, filed on Jun. 25, 2021, granted, now 11,682,196.
Application 17/359,031 is a continuation of application No. 16/122,413, filed on Sep. 5, 2018, granted, now 11,080,537, issued on Aug. 3, 2021.
Claims priority of provisional application 62/586,741, filed on Nov. 15, 2017.
Prior Publication US 2023/0274540 A1, Aug. 31, 2023
Int. Cl. G06K 9/00 (2022.01); G01S 7/48 (2006.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G05D 1/00 (2006.01); G06F 18/21 (2023.01); G06N 3/04 (2023.01); G06N 3/08 (2023.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01)
CPC G06V 10/82 (2022.01) [G01S 7/4808 (2013.01); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G05D 1/0221 (2013.01); G05D 1/0231 (2013.01); G06F 18/217 (2023.01); G06N 3/04 (2013.01); G06N 3/08 (2013.01); G06V 20/588 (2022.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous vehicle control system for controlling an autonomous vehicle, the autonomous vehicle control system comprising:
one or more processors; and
one or more tangible, non-transitory, computer readable media that store instructions that are executable by the one or more processors to cause the autonomous vehicle computing system to perform operations, the operations comprising:
obtaining, from a camera system of the autonomous vehicle, image data descriptive of a portion of a surrounding environment;
obtaining ground height data for the portion of the surrounding environment, wherein the ground height data was generated using a machine-learned model configured to process sensor data and output data indicative of ground height;
associating, using the ground height data, one or more portions of the image data with a lane of a travel way based on a transformation between a reference frame of the camera system and a reference frame of the ground height data; and
based on the association between the one or more portions of the image data and the lane, determining an object within the surrounding environment is within the lane.