Title :
Laser and camera for road edge and mid-line detection
Author :
Wijesoma, W.S. ; Kodagoda, K.R.S. ; Balasuriya, A.P. ; Teoh, E.K.
Author_Institution :
Dept. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
Presents a methodology for extracting road edge and lane information for smart and intelligent navigation of vehicles. The range information provided by a fast 2D laser range-measuring device is processed by an extended Kalman filter to extract the road edge or curb information. The resultant road edge information is used to aid in the extraction of the mid-line from a CCD camera image using an extended Kalman filter. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision strategy for road-edge and lane detection
Keywords :
CCD image sensors; Kalman filters; automated highways; edge detection; feature extraction; filtering theory; laser ranging; mobile robots; navigation; nonlinear filters; path planning; 2D laser range-measuring device; CCD camera image; extended Kalman filter; intelligent navigation; road edge detection; road mid-line detection; smart navigation; Cameras; Charge coupled devices; Data mining; Image edge detection; Intelligent vehicles; Laser radar; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973466
