Abstract: At a computing system comprising one or more processors and memory, the computing system receives road data collected on a moving vehicle along a road, the road data comprising a two-dimensional streetscape image, a three-dimensional point cloud, and inertial navigation data, identifies, within the two-dimensional streetscape image, a ground region image corresponding to the road based on a spatial position relation of the two-dimensional streetscape image and the three-dimensional point cloud according to the inertial navigation data, and detects at least one target road traffic marking in the ground region image, determining three-dimensional coordinates of the at least one target road traffic marking based on the spatial position relation of the two-dimensional streetscape image and the three-dimensional point cloud.

Abstract: This application discloses a lane determining method performed at a computing device. The computing device obtains image information of a road surface image collected by a vehicle; identifies first lane information of at least one first lane of the road surface from the image information, the first lane information including a location relationship between a travelling lane in which the vehicle is located in the road surface and the at least one first lane, and a feature of the first lane; performs feature matching between the feature of the at least one first lane and a feature of at least one second lane in a map in which the road surface is located, the feature of the at least one second lane obtained from the map; and determines a target lane of the vehicle in the map corresponding to the travelling lane in the map in accordance with the feature matching result.

Abstract: At a computing system comprising one or more processors and memory, the computing system receives road data collected on a moving vehicle along a road, the road data comprising a two-dimensional streetscape image, a three-dimensional point cloud, and inertial navigation data, identifies, within the two-dimensional streetscape image, a ground region image corresponding to the road based on a spatial position relation of the two-dimensional streetscape image and the three-dimensional point cloud according to the inertial navigation data, and detects at least one target road traffic marking in the ground region image, determining three-dimensional coordinates of the at least one target road traffic marking based on the spatial position relation of the two-dimensional streetscape image and the three-dimensional point cloud.

Abstract: At a computing system comprising one or more processors and memory, the computing system is attached to a moving vehicle traveling along a road: collecting road data while the computing system is in motion, the road data comprising a two-dimensional streetscape image, a three-dimensional point cloud, and inertial navigation data; performing region segmentation on the two-dimensional streetscape image; extracting a ground region image based on a spatial position relation of the two-dimensional streetscape image, the three-dimensional point cloud, and the inertial navigation data; detecting at least one target road traffic marking in the ground region image; and controlling motion of the moving vehicle in accordance with three-dimensional coordinates of the at least one target road traffic marking that are calculated based on the spatial position relation of the two-dimensional streetscape image, the three-dimensional point cloud, and the inertial navigation data.

Abstract: This application discloses a lane determining method performed at a computing device. The computing device obtains image information of a road surface image collected by a vehicle; identifies first lane information of at least one first lane of the road surface from the image information, the first lane information including a location relationship between a travelling lane in which the vehicle is located in the road surface and the at least one first lane, and a feature of the first lane; performs feature matching between the feature of the at least one first lane and a feature of at least one second lane in a map in which the road surface is located, the feature of the at least one second lane obtained from the map; and determines a target lane of the vehicle in the map corresponding to the travelling lane in the map in accordance with the feature matching result.

Abstract: At a computing system comprising one or more processors and memory, the computing system is attached to a moving vehicle traveling along a road: collecting road data while the computing system is in motion, the road data comprising a two-dimensional streetscape image, a three-dimensional point cloud, and inertial navigation data; performing region segmentation on the two-dimensional streetscape image; extracting a ground region image based on a spatial position relation of the two-dimensional streetscape image, the three-dimensional point cloud, and the inertial navigation data; detecting at least one target road traffic marking in the ground region image; and controlling motion of the moving vehicle in accordance with three-dimensional coordinates of the at least one target road traffic marking that are calculated based on the spatial position relation of the two-dimensional streetscape image, the three-dimensional point cloud, and the inertial navigation data.