Algorithm for obstacle classification and lane line identification using LRF sensors

This paper presents an algorithm for obstacle classification and lane line identification using the laser range finder (LRF) sensors, which is used to warn the driver to watch the situation of environment when the obstacle appear in the front. The classification of detecting objects is essential to reduce the danger in traffic. Nevertheless, there may be a noise (or road surface) in far distance. To overcome this, a quite efficient enhancement algorithm of detection, segmentation and classification based on the laser range finder (LRF) is proposed.