Multi modal detection and parameter-based tracking of road borders with a laser scanner

被引：21

作者：

Fardi, B ^{[1
]}

Scheunert, U ^{[1
]}

Cramer, H ^{[1
]}

Wanielik, G ^{[1
]}

机构：

[1] Tech Univ Chemnitz, D-09126 Chemnitz, Germany

来源：

IEEE IV2003: INTELLIGENT VEHICLES SYMPOSIUM, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/IVS.2003.1212890

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper treats an important problem concerning driver assistance systems: the detection and tracking of road borders. The detection of the road boarders are created from the signals of a laser scanner system. Two different information can be taken from the laser signal: range and reflectivity. The range signal delivers the road edges at the basis of single scans. In opposite to that, to detect edges in the reflectivity, the reflectivity signals are arranged as images and a special image processing algorithm is developed. The fusion and tracking of this information is performed using an Extended Kalman filter where a circular curve is used as movement model.

引用

页码：95 / 99

页数：5