Road detection is a significant task for the development of intelligent vehicles as well as advanced driver assistance systems (ADAS). For the past decade, many methods have been proposed. Among these approaches, one of them uses log-chromaticity space based illumination invariant grayscale image. However, errors in road detection could occur due to over saturation or under saturation, especially in weak lighting situations. In this paper, a new approach is proposed. It combines fisheye image information (in log-chromaticity space and in Lab color space) and laser range finder (LRF) measurements. Firstly, road is coarsely detected by a classifier based on the histogram of the illumination invariant grayscale image and a predefined road area. This fisheye image based coarse road detection is then faced to LRF measurements in order to detect eventual conflicts. Possible errors in coarse road detection can then be highlighted. Finally, in case of detected conflicts, a refined process based on Lab color space is carried out to rule out the errors. Experimental results based on real road scenes show the effectiveness of the proposed method.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Road Detection Using Fisheye Camera and Laser Range Finder


    Contributors:


    Publication date :

    2014


    Size :

    8 Seiten





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Obstacle Detection on Road with a Laser Range Finder

    Bessiere, K. | British Library Conference Proceedings | 1995


    Obstacle detection on road with a laser range finder

    Bessiere,K. / LETI(CEA-Technologies Avancees),FR | Automotive engineering | 1995



    Road-line detection and 3D reconstruction using fisheye cameras

    Boutteau, R. / Savatier, X. / Bonardi, F. et al. | IEEE | 2013


    Rear obstacle detection system with fisheye stereo camera using HCT

    Kim, Deukhyeon / Choi, Jinwook / Yoo, Hunjae et al. | Tema Archive | 2015