This paper treats an important problem concerning driver assistance systems: the detection and tracking of road borders in non cooperative areas . The information about the road borders and about the position of the vehicle itself on the road is a basis of several functionalities. In this work a multi sensor approach is developed using a laser scanner system and a CCD-camera. The Laser scanner is convenient for the usage during the night or in bad weather conditions. In this system the laser scanner has two functionalities, on the one hand it is used as a road border detector, on the other hand the range value, delivered by the scanner, is used to calculate the pitch value of the vehicle. The CCD-camera offers the possibility to detect the road borders under good viewing condition with high quality. The developed system has been implemented on an experimental vehicle equipped with CCD camera and laser scanner and was successfully tested in different unstructured areas.
A multi sensor detection and tracking of road borders using laser scanner and CCD camera
Eine Mehrfachsensor-Messung und -Fahrspurverfolgung mit Hilfe von Laserscannern und CCD-Kamera
2004
5 Seiten, 6 Bilder, 7 Quellen
Conference paper
English
Integrated Obstacle and Road Tracking using a Laser Scanner
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IEEE | 2004
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