Lane detection and tracking based on lidar data

• Autorzy: Thuy M. , Puente León F.
• Języki publikacji: EN

Abstrakty

EN

The contribution presents a novel approach to the detection and tracking of lanes based on lidar data. Therefore, we use the distance and reflectivity data coming from a one-dimensional sensor. After having detected the lane through a temporal fusion algorithm, we register the lidar data in a world-fixed coordinate system. To this end, we also incorporate the data coming from an inertial measurement unit and a differential global positioning system. After that stage, an original image of the road can be inferred. Based on this data view, we are able to track the lane either with a Kalman filter or by using a polynomial approximation for the underlying lane model.

Słowa kluczowe

EN

lidar; lidar fusion; lane detection; lane tracking

• Wydawca: Komitet Metrologii i Aparatury Naukowej PAN
• Czasopismo: Metrology and Measurement Systems
• Rocznik: 2010
• Tom: Vol. 17, nr 3
• Strony: 311--321
• Opis fizyczny: Bibliogr. 11 poz., rys., wykr.

Twórcy

autor

Thuy M.

autor

Puente León F.

• Karlsruhe Institute of Technology, Institut für Industrielle Informationstechnik, Hertzstrasse 16, D-76187 Karlsruhe, Germany,

Bibliografia

• [1] A. Fasoula, H. Driessen, P. van Genderen: “Model-based integrated object tracking and classification”. Information Fusion, FUSION ‘09. 12th International Conference, July 2009, pp. 1006-1013.
• [2] M. Meuter, S. Muller-Schneiders, A. Mika, S. Hold, C. Nunn, A. Kummert: “A novel approach to lane detection and tracking”. Intelligent Transportation Systems, ITSC ’09. 12th International IEEE Conference, Oct. 2009, pp. 1-6.
• [3] M.J. Jeng, C.Y. Guo, B.C. Shiau, L.B. Chang, P.Y. Hsiao: “Lane detection system based on software and hardware codesign” Autonomous Robots and Agents, ICARA 2009. 4th International Conference, Feb. 2009, pp. 319-323.
• [4] K.H. Lim, K.P. Seng, L.M. Ang, S.W. Chin: “Lane detection and kalman-based linear-parabolic lane tracking”. Intelligent Human-Machine Systems and Cybernetics, IHMSC ‘09. International Conference, vol. 2, Aug. 2009, pp. 351-354.
• [5] M. Thuy, F. Puente León: “An iterative parameter estimation method for observation models with nonlinear constraints”. Metrol. Meas. Syst., vol. XV, no. 4, 2008, pp. 421-432.
• [6] P. Lindner, E. Richter, G. Wanielik, K. Takagi, A. Isogai: “Multi-channel lidar processing for lane detection and estimation”. Intelligent Transportation Systems, ITSC ‘09. 12th International IEEE Conference, Oct. 2009, pp. 1-6.
• [7] K. Takagi, K. Morikawa, T. Ogawa, M. Saburi: “Road environment recognition using on-vehicle lidar”. Intelligent Vehicles Symposium, IEEE, 0-0, 2006, pp. 120-125.
• [8] T. Ogawa, K. Takagi: “Lane recognition using on-vehicle lidar”. Intelligent Vehicles Symposium, IEEE, 0-0, 2006, pp. 540-545.
• [9] T. Dang: “Non-linear multimodal object tracking based on 2D lidar data”. Metrol. Meas. Syst., vol. XVI, no. 3, 2009, pp. 359-369.
• [10]M. Thuy and F. Puente León, “Non-linear, shape independent object tracking based on 2d lidar data”. Intelligent Vehicles Symposium, IEEE, Jun. 2009, pp. 532-537.
• [11]M. Thuy, J. Habigt, F. Puente León: “Multi-Objektverfolgung auf der Grundlage von Lidardaten”. XXIII. Messtechnisches Symposium des Arbeitskreises der Hochschullehrer für Messtechnik e.V., AHMT, G. Goch, ed. Aachen, Shaker Verlag, 2009, pp. 181-192.