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 by 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.