System and method for detecting road edges by fusing aerial images and telemetry data

A method to detect a roadway edge includes calculating a first likelihood of a roadway edge from an aerial image of a roadway by shifting a center line of the roadway perpendicular to the center line and overlapping the center line with image gradients; determining the second likelihood of the roadway edge by using a vehicle telemetry fitting the probability distribution to the telemetry points along the roadway; fusing the first likelihood of the roadway edge and the second likelihood of the roadway edge to identify a final likelihood of the roadway edge. 一种检测道路边缘的方法，包括：通过垂直于道路中心线移动道路中心线并用图像梯度重叠中心线，根据道路的航空图像计算道路边缘的第一似然性；使用车辆遥测来确定道路边缘的第二似然性，该车辆遥测拟合沿道路的遥测点的概率分布；将道路边缘的第一似然性和道路边缘的第二似然性融合，以识别道路边缘的最终似然性。