US Patent 9495602 Image and map-based detection of vehicles at intersections

A system, device, and methods for image and map-based detection of vehicles at intersections. Once example computer-implemented method for detecting objects includes receiving, from the one or more sensors disposed on a vehicle, image data representative of an image and detecting an object on the image. The method further includes identifying a path extending from the vehicle to the detected object on the image and retrieving map data including lane information. The method further includes comparing the path to a representation of the lane information and determining the position of the detected object based on a comparison of the path, representation of the lane information, and the image.