Title :
Lidar-based lane marker detection and mapping
Author :
Kammel, Sören ; Pitzer, Benjamin
Abstract :
The detection of lane markers is a pre-requisite for many driver assistance systems as well as for autonomous vehicles. In this paper, the lane marker detection approach that was developed by Team AnnieWAY for the DARPA Urban Challenge 2007 is described. Based on current sensor technology, a robust real-time lane marker detection was developed and implemented. The system allows the robust estimation of a deviations between a digital map and the real world.
Keywords :
image sensors; mobile robots; object detection; road vehicles; traffic engineering computing; AnnieWAY; DARPA Urban Challenge 2007; autonomous vehicles; digital map; driver assistance systems; lidar-based lane marker detection; Cameras; Global Positioning System; Laser radar; Mobile robots; Remotely operated vehicles; Roads; Robustness; Sensor fusion; Vehicle detection; Vehicle driving;
Conference_Titel :
Intelligent Vehicles Symposium, 2008 IEEE
Conference_Location :
Eindhoven
Print_ISBN :
978-1-4244-2568-6
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2008.4621318
