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Lane Line Detection by LiDAR Intensity Value Interpolation

Journal Article
2019-01-2607
ISSN: 2641-9645, e-ISSN: 2641-9645
DOI: https://doi.org/10.4271/2019-01-2607
Published October 22, 2019 by SAE International in United States
Lane Line Detection by LiDAR Intensity Value Interpolation
Sector:
Citation: Ciroski, V. and Park, J., "Lane Line Detection by LiDAR Intensity Value Interpolation," SAE Int. J. Adv. & Curr. Prac. in Mobility 2(2):939-944, 2020, https://doi.org/10.4271/2019-01-2607.
Language: English

Abstract:

Lane marks are an important aspect for autonomous driving. Autonomous vehicles rely on lane mark information to determine a safe and legal path to drive. In this paper an approach to estimate lane lines on straight or slightly curved roads using a LiDAR unit for autonomous vehicles is presented. By comparing the difference in elevation of LiDAR channels, a drivable region is defined. The presented approach used in this paper differs from previous LiDAR lane line detection methods by reducing the drivable region from three to two dimensions exploring only the x-y trace. In addition, potential lane markings are extracted by filtering a range of intensity values as opposed to the traditional approach of comparing neighboring intensity values. Further, by calculating the standard deviation of the potential lane markings in the y-axis, the data can be further refined to specific points of interest. By applying a statistical approximation, to these points of interest, the results given show a linear approximation of the lane lines.