Laser and camera for road edge and mid-line detection

Author

Wijesoma, W.S. ; Kodagoda, K.R.S. ; Balasuriya, A.P. ; Teoh, E.K.

Author_Institution

Dept. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore

fYear

2001

fDate

2001

Firstpage

269

Lastpage

274

Abstract

Presents a methodology for extracting road edge and lane information for smart and intelligent navigation of vehicles. The range information provided by a fast 2D laser range-measuring device is processed by an extended Kalman filter to extract the road edge or curb information. The resultant road edge information is used to aid in the extraction of the mid-line from a CCD camera image using an extended Kalman filter. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision strategy for road-edge and lane detection

Keywords

CCD image sensors; Kalman filters; automated highways; edge detection; feature extraction; filtering theory; laser ranging; mobile robots; navigation; nonlinear filters; path planning; 2D laser range-measuring device; CCD camera image; extended Kalman filter; intelligent navigation; road edge detection; road mid-line detection; smart navigation; Cameras; Charge coupled devices; Data mining; Image edge detection; Intelligent vehicles; Laser radar; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2001 Proceedings of the Second International Workshop on

Conference_Location

Bukowy Dworek

Print_ISBN

83-7143-515-0

Type

conf

DOI

10.1109/ROMOCO.2001.973466

Filename

973466