US 12,148,227 B2
System and method for large-scale lane marking detection using multimodal sensor data
Xue Mei, San Diego, CA (US); Xiaodi Hou, San Diego, CA (US); Dazhou Guo, San Diego, CA (US); and Yujie Wei, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TuSimple, Inc., San Diego, CA (US)
Filed on Jan. 27, 2023, as Appl. No. 18/102,559.
Application 18/102,559 is a continuation of application No. 16/846,205, filed on Apr. 10, 2020, granted, now 11,580,754.
Application 16/846,205 is a continuation of application No. 15/822,689, filed on Nov. 27, 2017, granted, now 10,657,390, issued on May 19, 2020.
Prior Publication US 2023/0177847 A1, Jun. 8, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/10 (2017.01); B60R 11/04 (2006.01); G01C 21/00 (2006.01); G01S 17/42 (2006.01); G06N 3/02 (2006.01); G06N 3/045 (2023.01); G06N 3/08 (2023.01); G06T 5/50 (2006.01); G06T 7/246 (2017.01); G06V 20/56 (2022.01); G07C 5/00 (2006.01)
CPC G06V 20/588 (2022.01) [B60R 11/04 (2013.01); G01C 21/3826 (2020.08); G01C 21/3833 (2020.08); G01C 21/3867 (2020.08); G01S 17/42 (2013.01); G06N 3/02 (2013.01); G06N 3/045 (2023.01); G06N 3/08 (2013.01); G06T 5/50 (2013.01); G06T 7/10 (2017.01); G06T 7/246 (2017.01); G07C 5/008 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/30256 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a data processor; and
a multimodal lane detection module, executable by the data processor, the multimodal lane detection module being configured to perform a multimodal lane detection operation configured to:
fuse image data and point cloud data to produce a set of lane marking points in three-dimensional (3D) space that correlate to the image data and the point cloud data based on a threshold, the threshold being based on a perspective depth of the lane marking points, the threshold being larger for lane marking points close to a position of an image generating device that produced the image data and smaller for lane marking points more distant from the position of the image generating device; and
generate a lane marking map from the set of lane marking points.