Road Edge and Lane Boundary Detection using Laser and Vision

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dc.contributor.author Wijesoma, WS
dc.contributor.author Kodagoda, S
dc.contributor.author Balasuriya, A
dc.contributor.author Teoh, EK
dc.contributor.editor NA
dc.date.accessioned 2010-07-13T08:50:37Z
dc.date.issued 2001-01
dc.identifier.citation Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2001), 2001, 3 pp. 1440 - 1445
dc.identifier.isbn 0-7803-6612-3
dc.identifier.other E1UNSUBMIT en_US
dc.identifier.uri http://hdl.handle.net/10453/12674
dc.description.abstract This paper presents a methodology for extracting road edge and lane information for smart and intelligent navigation of vehicles. The range information provided by a fast laser range-measuring device is processed by an extended Kalman filter to extract the road edge or curb information. The resultant road edge information is used to aid in the extraction of the lane boundary from a CCD camera image. The Hough transform is used to extract the candidate of lane boundary edges, and the most probable lane boundary is determined by using an active line model and minimizing an appropriate energy function. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision strategy for road-edge and lane boundary detection
dc.publisher IEEE
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon 10.1109/IROS.2001.977183
dc.subject Hough transforms , Kalman filters , computer vision , computerised navigation , edge detection , feature extraction , laser ranging , road vehicles
dc.subject Hough transforms , Kalman filters , computer vision , computerised navigation , edge detection , feature extraction , laser ranging , road vehicles
dc.title Road Edge and Lane Boundary Detection using Laser and Vision
dc.type Conference Proceeding
dc.parent Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2001)
dc.journal.volume 3
dc.journal.number en_US
dc.publocation USA en_US
dc.publocation USA
dc.identifier.startpage 1440 en_US
dc.identifier.endpage 1445 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference IEEE/RSJ International Conference on Intelligent Robots and Systems
dc.for 091007 Manufacturing Robotics and Mechatronics (Excl. Automotive Mechatronics)
dc.for 091303 Autonomous Vehicles
dc.personcode 0000026361 en_US
dc.personcode 040387 en_US
dc.personcode 0000022937 en_US
dc.personcode 0000030920 en_US
dc.percentage 50 en_US
dc.classification.name Autonomous Vehicles en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20010829 en_US
dc.date.activity 2001-08-29
dc.location.activity Maui, USA en_US
dc.location.activity Maui, USA
dc.description.keywords Hough transforms , Kalman filters , computer vision , computerised navigation , edge detection , feature extraction , laser ranging , road vehicles en_US
dc.description.keywords Hough transforms , Kalman filters , computer vision , computerised navigation , edge detection , feature extraction , laser ranging , road vehicles
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems


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