Title:
AUTONOMOUS MOBILE ROBOT AND METHOD FOR LANE LINE DETECTION USING SAME
Document Type and Number:
WIPO Patent Application WO/2023/142865
Kind Code:
A1
Abstract:
An autonomous mobile robot (100), a method (200) for lane line detection using the autonomous mobile robot (100), a method (310) for lateral positioning of the robot within a lane line on the basis of the method, an electronic device, and a non-transitory computer readable storage medium. The method (200) for lane line detection using the autonomous mobile robot (100) comprises: continuously obtaining input images captured by a camera (130) (S210), the input images comprising a current image frame and a historical image frame; determining a coordinate value of an endpoint of a candidate lane in a robot coordinate system according to the current image frame in the continuously obtained input images (S220); converting the coordinate value of the endpoint of the candidate lane in the robot coordinate system into a coordinate value of an odom coordinate system (S230); matching the candidate lane in the current image frame with a candidate lane in the historical image frame on the basis of the coordinate value of the odom coordinate system (S240); and merging endpoints of successfully matched candidate lanes, and fitting the merged endpoints as a current lane segment (S250).
Inventors:
LI LE (CN)
PAN JINFENG (CN)
CHENG JIN (CN)
BAO YINHANG (CN)
PAN JINFENG (CN)
CHENG JIN (CN)
BAO YINHANG (CN)
Application Number:
PCT/CN2022/143259
Publication Date:
August 03, 2023
Filing Date:
December 29, 2022
Export Citation:
Assignee:
LINGDONG TECH BEIJING CO LTD (CN)
International Classes:
G06V20/58
Domestic Patent References:
| WO2020107326A1 | 2020-06-04 |
Foreign References:
| CN113486796A | 2021-10-08 | |||
| CN113657282A | 2021-11-16 | |||
| CN111291603A | 2020-06-16 | |||
| CN112528859A | 2021-03-19 | |||
| CN109583280A | 2019-04-05 | |||
| US20090201370A1 | 2009-08-13 |
Attorney, Agent or Firm:
BEIJING LAWSING IP LTD. (CN)
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