Lane Detection and Tracking Based on Lidar Data
Open Access
- 1 January 2010
- journal article
- research article
- Published by Polish Academy of Sciences Chancellery in Metrology and Measurement Systems
- Vol. 17 (3), 311-321
- https://doi.org/10.2478/v10178-010-0027-3
Abstract
The contribution presents a novel approach to the detection and tracking of lanes based on lidar data. Therefore, we use the distance and reflectivity data coming from a one-dimensional sensor. After having detected the lane through a temporal fusion algorithm, we register the lidar data in a world-fixed coordinate system. To this end, we also incorporate the data coming from an inertial measurement unit and a differential global positioning system. After that stage, an original image of the road can be inferred. Based on this data view, we are able to track the lane either with a Kalman filter or by using a polynomial approximation for the underlying lane model.Keywords
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