A method includes obtaining, by a processing device, input data derived from a set of sensors of an autonomous vehicle (AV), generating, by the processing device using a set of lane detection classifier heads, at least one heatmap based on a fused bird's eye view (BEV) feature generated from the input data, obtaining, by the processing device, a set of polylines using the at least one heatmap, wherein each polyline of the set of polylines corresponds to a respective track of a first set of tracks for a first frame, and generating, by the processing device, a second set of tracks for a second frame after the first frame by using a statistical filter based on a set of extrapolated tracks for the second frame and a set of track measurements for the second frame, wherein each track measurement of the set of track measurements corresponds to a respective updated polyline obtained for the second frame.
IMPLEMENTING AUTONOMOUS VEHICLE LANE UNDERSTANDING SYSTEMS USING FILTER-BASED LANE TRACKING
06.03.2025
Patent
Elektronische Ressource
Englisch
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