Lane Detection and Tracking Based on Lidar Data

Open access

Lane Detection and Tracking Based on Lidar Data

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.

Fasoula, A., Driessen, H., van Genderen, P. (2009). Model-based integrated object tracking and classification. Information Fusion. 12th International Conference, 1006-1013.

Meuter, M., Muller-Schneiders, S., Mika, A., Hold, S., Nunn, C., Kummert, A. (2009). A novel approach to lane detection and tracking. Intelligent Transportation Systems. 12th International IEEE Conference, 1-6.

Jeng, M. J., Guo, C. Y., Shiau, B. C., Chang, L. B., Hsiao, P. Y. (2009). Lane detection system based on software and hardware codesign. Autonomous Robots and Agents, ICARA. 4th International Conference, 319-323.

Lim, K. H., Seng, K. P., Ang, L. M., Chin, S. W. (August 2009). Lane detection and kalman-based linear-parabolic lane tracking. Intelligent Human-Machine Systems and Cybernetics, IHMSC '09. International Conference, 2, 351-354.

Thuy, M., Puente León, F. (2008). An iterative parameter estimation method for observation models with nonlinear constraints. Metrol. Meas. Syst., 15(4), 421-432.

Lindner, P., Richter, E., Wanielik, G., Takagi, K., Isogai, A. (October 2009). Multi-channel lidar processing for lane detection and estimation. Intelligent Transportation Systems, ITSC '09. 12th International IEEE Conference, 1-6.

Takagi, K., Morikawa, K., Ogawa, T., Saburi, M. (2006). Road environment recognition using on-vehicle lidar. Intelligent Vehicles Symposium, IEEE, 120-125.

Ogawa, T., Takagi, K. (2006). Lane recognition using on-vehicle lidar. Intelligent Vehicles Symposium, IEEE, 540-545.

Dang, T. (2009). Non-linear multimodal object tracking based on 2D lidar data. Metrol. Meas. Syst., 16(3), 359-369.

Thuy, M., Puente León, F. (June 2009). Non-linear, shape independent object tracking based on 2d lidar data. Intelligent Vehicles Symposium, IEEE, 532-537.

Thuy, M., Habigt, J., Puente León, F. (2009). Multi-Objektverfolgung auf der Grundlage von Lidardaten. XXIII. Messtechnisches Symposium des Arbeitskreises der Hochschullehrer für Messtechnik e.V., AHMT, Goch, G. (ed.). Aachen, Shaker Verlag, 181-192.

Metrology and Measurement Systems

The Journal of Committee on Metrology and Scientific Instrumentation of Polish Academy of Sciences

Journal Information


IMPACT FACTOR 2016: 1.598

CiteScore 2016: 1.58

SCImago Journal Rank (SJR) 2016: 0.460
Source Normalized Impact per Paper (SNIP) 2016: 1.228

Cited By

Metrics

All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 407 393 32
PDF Downloads 217 214 20