Title :
Road edge and lane boundary detection using laser and vision
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
Abstract :
This paper presents a methodology for extracting road edge and lane information for smart and intelligent navigation of vehicles. The range information provided by a fast 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 lane boundary from a CCD camera image. The Hough transform is used to extract the candidate of lane boundary edges, and the most probable lane boundary is determined by using an active line model and minimizing an appropriate energy function. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision strategy for road-edge and lane boundary detection
Keywords :
Hough transforms; Kalman filters; computer vision; computerised navigation; edge detection; feature extraction; laser ranging; road vehicles; Hough transform; Kalman filter; computer vision; edge detection; feature extraction; intelligent navigation; lane boundary detection; laser range-measuring device; road vehicles; Charge coupled devices; Data mining; Image edge detection; Intelligent vehicles; Laser radar; Mobile robots; Navigation; Radar imaging; Remotely operated vehicles; Road vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977183
