US 9,811,744 B2
Fast and robust stop line detector
Wende Zhang, Troy, MI (US); and Zhencheng Hu, Kumamoto (JP)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Jul. 20, 2015, as Appl. No. 14/803,714.
Claims priority of provisional application 62/027,939, filed on Jul. 23, 2014.
Prior Publication US 2016/0026877 A1, Jan. 28, 2016
Int. Cl. H04N 7/18 (2006.01); G06K 9/00 (2006.01); G06T 3/00 (2006.01); G06K 9/32 (2006.01)
CPC G06K 9/00798 (2013.01) [G06T 3/00 (2013.01); H04N 7/183 (2013.01); G06K 2009/3291 (2013.01)] 17 Claims
OG exemplary drawing
1. A system on a vehicle for detecting a stop line on a roadway, said system comprising:
a front view camera capable of generating images of the roadway, including a bird's eye view image; and
a controller that is programmed to receive the images from the front view camera, including the bird's eye view image, said controller also being programmed to generate a composite image that includes an original bird's eye view image and a rotated bird's eye view image and using the composite image to determine if the stop line is present on the roadway, said controller being further programmed to use a line filter algorithm that includes a convolution kernel such that the convolution result provides a positive peak followed by a negative peak when plotted on a graph for each of lane markers and the stop line in the composite image.