This paper proposes a new method for road detection based on a 3D LiDAR and a camera. First, the original LiDAR point cloud is re-organized in an ordered way to generate a LiDAR imagery. Then the flat region is extracted from the LiDAR imagery as the candidate road region. Next, a strategy of row- and column- scanning is given in the LiDAR imagery to detect a finer road region from the candidate region. To fuse the point cloud with image information, we transform the point cloud that corresponds to the above detected road region to the image space according to the calibration parameters between the LiDAR and camera. Then we give two image-guided diffusion schemes to conduct image segmentation of road area, respectively. Our experiments demonstrate that this training free approach detects the road region fast, accurately and robustly, and compares favorably with the state-of-the-art on the KITTI benchmark.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fusion of LiDAR and Camera by Scanning in LiDAR Imagery and Image-Guided Diffusion for Urban Road Detection


    Contributors:
    Zhang, Yigong (author) / Gu, Shuo (author) / Yang, Jian (author) / Jose Alvarez, M. (author) / Kong, Hui (author)


    Publication date :

    2018-06-01


    Size :

    5108891 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Multi-Stage Residual Fusion Network for LIDAR-Camera Road Detection

    Yu, Dameng / Xiong, Hui / Xu, Qing et al. | IEEE | 2019


    LIDAR-Camera Fusion Where LIDAR and Camera Validly See Different Things

    BLAU CHAIM / SPRINGER OFER / ROSENBLUM KEVIN et al. | European Patent Office | 2022

    Free access

    Reliable Infrastructural Urban Traffic Monitoring Via Lidar and Camera Fusion

    Liu, Hangxin / Furukawa, Tomonari / Tian, Yi | SAE Technical Papers | 2017