Lane Recognition Using On-vehicle LIDAR

This paper presents an approach to the lane recognition using on-vehicle LIDAR. It detests the objects by 2D scanning and collects the range and reflectivity data in each scanning direction. We developed the lane recognition algorithm with these data, in which the lane curvature, yaw angle and offse...

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Published in2006 IEEE Intelligent Vehicles Symposium pp. 540 - 545
Main Authors Ogawa, T., Takagi, K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2006
Subjects
Azimuth
Laser beams
Laser radar
Object detection
Optical sensors
Reflectivity
Road vehicles
Sensor systems
Surface emitting lasers
Vehicle detection
Online AccessGet full text
ISBN490112286X
9784901122863
ISSN1931-0587
DOI10.1109/IVS.2006.1689684

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Abstract This paper presents an approach to the lane recognition using on-vehicle LIDAR. It detests the objects by 2D scanning and collects the range and reflectivity data in each scanning direction. We developed the lane recognition algorithm with these data, in which the lane curvature, yaw angle and offset are calculated by using the Hough transformation, and the lane width is calculated by statistical procedure. Next the lane marks are tracked by the extended Kalman filter. Then we test the performance of the lane recognition and the good results are achieved. Finally, we show the result of the road environment recognition applying the lane recognition by LIDAR
AbstractList This paper presents an approach to the lane recognition using on-vehicle LIDAR. It detests the objects by 2D scanning and collects the range and reflectivity data in each scanning direction. We developed the lane recognition algorithm with these data, in which the lane curvature, yaw angle and offset are calculated by using the Hough transformation, and the lane width is calculated by statistical procedure. Next the lane marks are tracked by the extended Kalman filter. Then we test the performance of the lane recognition and the good results are achieved. Finally, we show the result of the road environment recognition applying the lane recognition by LIDAR
Author Takagi, K.
Ogawa, T.
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  fullname: Takagi, K.
  organization: Vehicle Integrated Syst. R&D Dept., Denso Corp., Aichi
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Snippet This paper presents an approach to the lane recognition using on-vehicle LIDAR. It detests the objects by 2D scanning and collects the range and reflectivity...
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StartPage 540
SubjectTerms Azimuth
Laser beams
Laser radar
Object detection
Optical sensors
Reflectivity
Road vehicles
Sensor systems
Surface emitting lasers
Vehicle detection
Title Lane Recognition Using On-vehicle LIDAR
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