DocumentCode
2487068
Title
Lane Recognition Using On-vehicle LIDAR
Author
Ogawa, Takashi ; Takagi, Kiyokazu
Author_Institution
Vehicle Integrated Syst. R&D Dept., Denso Corp., Aichi
fYear
0
fDate
0-0 0
Firstpage
540
Lastpage
545
Abstract
This paper presents an approach to the lane recognition using on-vehicle LIDAR. It detests the objects by 2D scanning and collects the range and reflectivity data in each scanning direction. We developed the lane recognition algorithm with these data, in which the lane curvature, yaw angle and offset are calculated by using the Hough transformation, and the lane width is calculated by statistical procedure. Next the lane marks are tracked by the extended Kalman filter. Then we test the performance of the lane recognition and the good results are achieved. Finally, we show the result of the road environment recognition applying the lane recognition by LIDAR
Keywords
Hough transforms; Kalman filters; object recognition; optical radar; road vehicles; tracking filters; traffic engineering computing; Hough transformation; extended Kalman filter; lane curvature; lane recognition; on-vehicle LIDAR; road environment recognition; Azimuth; Laser beams; Laser radar; Object detection; Optical sensors; Reflectivity; Road vehicles; Sensor systems; Surface emitting lasers; Vehicle detection;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2006 IEEE
Conference_Location
Tokyo
Print_ISBN
4-901122-86-X
Type
conf
DOI
10.1109/IVS.2006.1689684
Filename
1689684
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