| CPC B60W 60/001 (2020.02) [B60W 40/10 (2013.01); G06N 20/00 (2019.01); B60W 2420/408 (2024.01); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02); B60W 2554/4041 (2020.02)] | 20 Claims |
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1. A method, comprising:
causing a radio detection and ranging (radar) system of a vehicle to output radio waves;
receiving a first radar image from the radar system corresponding to radio waves detected by the radar system in response to the outputted radio waves;
identifying a portion of the first radar image that includes a curb and curb markings corresponding to the curb, based on metallic particles embedded within paint on the curb, wherein identifying the portion of the first radar image that includes the curb and the curb markings comprises:
generating a 3D point cloud from the first radar image based on a plurality of metallic particles within a portion of the paint,
determining a first 3D shape based on the 3D point cloud,
extracting a curb feature from the first 3D shape, wherein the curb feature includes a second 3D shape of at least one curb marking of the curb markings,
generating a signature based on the first 3D shape and the curb feature,
comparing the generated signature with a plurality of signatures, wherein comparing the generated signature with the plurality of signatures comprises comparing the first 3D shape with a plurality of 3D shapes and the curb feature with a plurality of curb features, and
determining, based on the comparing, that the generated signature matches at least one of the plurality of signatures, wherein the at least one of the plurality of signatures corresponds to a second radar image of the curb markings generated based on the metallic particles embedded within the paint on the curb; and
determining a location of the vehicle based on the identified portion of the first radar image that includes the curb markings.
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