Road Edge and Lane Boundary Detection using Laser and Vision

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dc.contributor.author Wijesoma, W en_US
dc.contributor.author Kodagoda, Sarath en_US
dc.contributor.author Balasuriya, Arjuna en_US
dc.contributor.author Teoh, Eam en_US
dc.contributor.editor NA en_US
dc.date.accessioned 2010-07-13T08:50:37Z
dc.date.available 2010-07-13T08:50:37Z
dc.date.issued 2001 en_US
dc.identifier 2006007410 en_US
dc.identifier.citation Wijesoma W et al. 2001, 'Road Edge and Lane Boundary Detection using Laser and Vision', IEEE, USA, pp. 1440-1445. en_US
dc.identifier.issn 0-7803-6612-3 en_US
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 en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/IROS.2001.977183 en_US
dc.title Road Edge and Lane Boundary Detection using Laser and Vision en_US
dc.parent Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2001) en_US
dc.journal.volume 3 en_US
dc.journal.number en_US
dc.publocation USA en_US
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.for 091303 en_US
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.location.activity Maui, USA en_US
dc.description.keywords Hough transforms , Kalman filters , computer vision , computerised navigation , edge detection , feature extraction , laser ranging , road vehicles en_US


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