Multi-modal detection and parameter-based tracking of road borders with a laser scanner

Fardi, B.; Scheunert, U.; Cramer, H.; Wanielik, Gerd

doi:10.1109/ivs.2003.1212890

Cited by 27 publications

(13 citation statements)

References 3 publications

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“…6. Procedure of online lane detection process is same as other approaches [3], [8], [15], utilizing extracted lane features to approach detection model as well as parameters estimation. Digital road map by commercial soft- ware or in-vehicle navigation unit which supposedly consists of road network and node points with fundamental information such as: global position (latitude, longitude), property (intersection or not) and road types (width, number and category).…”

Section: Pld Implementationmentioning

confidence: 99%

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Predictive Lane Detection by Interaction with Digital Road Map

Wang

Chapuis

2012

Journal of Information Processing

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This paper presents a robust hybrid approach to Predictive Lane Detection -PLD, which utilizes information from digital map to improve efficiency and accuracy to vision-based lane detector. Traditional approaches are mostly designed for well maintained and simple road conditions like motorway or interstate road with clear lane markers, to solve out the estimation problems of coming road shape as well as vehicle's position and ego-state, which however becomes ambiguous or unavailable in the complicated road environment and under difficult weather or illumination conditions. In this paper, the proposed approach refers to vehicle localization on digital map for road geometry estimation, which gives strong cues for vision-based detector to limit the search region of road candidates and suppress noise. In addition, other information from digital map like lane marker painting color and categories is utilized in the high level of data fusion on road geometry estimation. Real and synthesized road experiment results verified the effectiveness and efficiency of our approach.

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Section: Pld Implementationmentioning

confidence: 99%

“…IMTS serves as the transit vehicle at the Aichi World Expo 2005. Laser radar [2], [3], millimeter wave radar [4] and IR sensors are also employed in this field to detect the reflectivity difference between lane markings with road pavements and guard rails.…”

Section: Introductionmentioning

confidence: 99%

Predictive Lane Detection by Interaction with Digital Road Map

Wang

Chapuis

2012

Journal of Information Processing

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“…Later, the results of [39] were enhanced in [40] with the addition of image sensors. A similar extended Kalman filtering based solution is given in [41], where a circular road edge modeling framework is used. Recently, the particle filters (also referred to as condensation in image and video processing) have been applied to the road edge estimation problem in [42] with an hyperbolic road model.…”

Section: Applicationmentioning

confidence: 99%

Extended Target Tracking Using Polynomials With Applications to Road-Map Estimation

Lundquist

Orguner

Gustafsson

2011

IEEE Trans. Signal Process.

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Abstract-This paper presents an extended target tracking framework which uses polynomials in order to model extended objects in the scene of interest from imagery sensor data. State space models are proposed for the extended objects which enables the use of Kalman filters in tracking. Different methodologies of designing measurement equations are investigated. A general target tracking algorithm that utilizes a specific data association method for the extended targets is presented. The overall algorithm must always use some form of prior information in order to detect and initialize extended tracks from the point tracks in the scene. This aspect of the problem is illustrated on a real life example of road-map estimation from automotive radar reports along with the results of the study.

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“…Simultaneous lane detection and street type classification using range images generated by a single line laser range finder mounted at the front of a car, can be also achieved as it was presented in [9]. Road borders estimation in [10] using laser scanner (LIDAR) is accomplished with processing of laser signal's range and reflectivity. Fusion approaches using multiple source data for lane detection are also gaining acceptance.…”

Section: Introductionmentioning

confidence: 99%