Combinatorial approach for lane detection using image and LIDAR reflectance

Recently, lane detection algorithms have played significant roles in the field of vehicle technology. While many well working algorithms have been developed, they are hard to use in complex urban environments. In this paper, we propose an efficient approach for detecting lane markings using image information and LIDAR reflectance. The proposed algorithm has three phases: ground extraction, lane detections, and combining lane information. The proposed algorithm was implemented on a real vehicle and validated in various traffic environments, including the 2014 Hyundai Autonomous Vehicle Competition (AVC).