Lane detection and street type classification using laser range images

Author

Sparbert, Jan ; Dietmayer, Klaus ; Streller, Daniel

Author_Institution

Dept. of Meas., Ulm Univ., Germany

fYear

2001

fDate

2001

Firstpage

454

Lastpage

459

Abstract

This paper describes a method for the lane detection and street type classification from range images generated by a single line laser range finder mounted at the front of a car. Additionally, an environment reconstruction is done. Objects like cars and cycles are classified and tracked. For lane detection, they are removed from the range image in order to reduce disturbances to the algorithm. The lane is described by its type, width, curvature, and relative position to the car. This information can be used for driver assistance systems like lane departure warning

Keywords

automotive electronics; laser ranging; object recognition; pattern classification; road vehicle radar; tracking; bicycles; cars; curvature; cycles; driver assistance systems; environment reconstruction; lane departure warning; lane detection; laser range images; object classification; object tracking; street type classification; Belts; Driver circuits; Laser modes; Radar detection; Radar tracking; Sensor systems; Traffic control; Vehicle crash testing; Vehicle dynamics; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE

Conference_Location

Oakland, CA

Print_ISBN

0-7803-7194-1

Type

conf

DOI

10.1109/ITSC.2001.948700

Filename

948700