A method of digital map construction with road feature extraction using 2-dimensional laser range finder

These days, robust autonomous navigation incorporates the information on the digital map including variety of road features such as position of lane markings, road boundaries and etc. In this study, a method of extracting road features are developed using two dimensional laser range finder (LRF). In particular, range measurements are employed to identify the road surface using split and merge method. In addition, the reflectivity measurements are used to identify lane markings on the road surface. Finally a digital map of road surface is constructed which is useful for robust autonomous navigation. The proposed method is verified using experimental LRF data measured on the road environments.