This paper addresses the detection and tracking of road borders in non cooperative environments. A 2-dimensional scanning LIDAR is used to improve the reliability of the FIR camera based road border recognition. In order to detect the road boarders we apply a Kalman-filter based model fitting strategy. Extracted measurements of the FIR images are transformed into the vehicle coordinate system in order to provide a precise description of the road course ahead. The model description in a common coordinate system - the vehicle coordinate system - allows an easy compensation of the ego-motion and a direct and straight forward fusion of the different sensor data. Both the detection and the estimation were developed and enhanced for the intended sensor configuration. The corresponding mathematical derivations are presented in this paper. Using the range values, delivered by the LIDAR, a more stable estimation of the pitch angle can be achieved. The realization of that is shown in detail. This is used to define the ROI in which the image processing is carried out.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Road Border Recognition Using FIR Images and LIDAR Signal Processing


    Contributors:


    Publication date :

    2007-06-01


    Size :

    702485 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Road Border Recognition Using FIR Images and LIDAR Signal Processing

    Fardi, B. / Weigel, H. / Wanielik, G. et al. | British Library Conference Proceedings | 2007


    Road Environment Recognition Using On-vehicle LIDAR

    Takagi, K. / Morikawa, K. / Ogawa, T. et al. | British Library Conference Proceedings | 2006


    Road Environment Recognition Using On-vehicle LIDAR

    Takagi, K. / Morikawa, K. / Ogawa, T. et al. | IEEE | 2006


    Road Environment Recognition Using On-vehicle LIDAR (20065255)

    Takagi, K. / Morikawa, C. / Ogawa F. et al. | British Library Conference Proceedings | 2006


    LIDAR signal processing apparatus method and LIDAR

    European Patent Office | 2019

    Free access