SYSTEM AND METHOD FOR DETECTING ROAD AND LANE CONNECTIONS AT INTERSECTIONS

A method for detecting road edges at a predetermined intersection, comprising: receiving, by the controller, aerial imagery data about the predetermined intersection; receiving, by the controller, vehicle telemetry data from at least one vehicle passing through the predetermined intersection; detecting, using the aerial imagery data and generative adversarial networks (GANs) executed on the controller, road edges at the predetermined intersection; classifying, using the vehicle telemetry data and a random forest classifier (RFC) executed on the controller, each vehicle trajectory passing through the predetermined intersection with a label corresponding to a unique maneuver to create a maneuver labeling at the predetermined intersection; constructing, using the maneuver labeling determined by the RFC and the road edges, a probabilistic finite state automata (PFSA) to pair inbound lanes with outbound lanes at the predetermined intersection; and determining lane edges at the predetermined intersection using a homotopy model.