Road Markings Segmentation from LIDAR Point Clouds using Reflectivity Information
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2022
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866908273262723072 |
|---|---|
| author | Certad, Novel Morales-Alvarez, Walter Olaverri-Monreal, Cristina |
| author_facet | Certad, Novel Morales-Alvarez, Walter Olaverri-Monreal, Cristina |
| contents | Lane detection algorithms are crucial for the development of autonomous vehicles technologies. The more extended approach is to use cameras as sensors. However, LIDAR sensors can cope with weather and light conditions that cameras can not. In this paper, we introduce a method to extract road markings from the reflectivity data of a 64-layers LIDAR sensor. First, a plane segmentation method along with region grow clustering was used to extract the road plane. Then we applied an adaptive thresholding based on Otsu s method and finally, we fitted line models to filter out the remaining outliers. The algorithm was tested on a test track at 60km/h and a highway at 100km/h. Results showed the algorithm was reliable and precise. There was a clear improvement when using reflectivity data in comparison to the use of the raw intensity data both of them provided by the LIDAR sensor. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2211_01105 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Road Markings Segmentation from LIDAR Point Clouds using Reflectivity Information Certad, Novel Morales-Alvarez, Walter Olaverri-Monreal, Cristina Robotics Lane detection algorithms are crucial for the development of autonomous vehicles technologies. The more extended approach is to use cameras as sensors. However, LIDAR sensors can cope with weather and light conditions that cameras can not. In this paper, we introduce a method to extract road markings from the reflectivity data of a 64-layers LIDAR sensor. First, a plane segmentation method along with region grow clustering was used to extract the road plane. Then we applied an adaptive thresholding based on Otsu s method and finally, we fitted line models to filter out the remaining outliers. The algorithm was tested on a test track at 60km/h and a highway at 100km/h. Results showed the algorithm was reliable and precise. There was a clear improvement when using reflectivity data in comparison to the use of the raw intensity data both of them provided by the LIDAR sensor. |
| title | Road Markings Segmentation from LIDAR Point Clouds using Reflectivity Information |
| topic | Robotics |
| url | https://arxiv.org/abs/2211.01105 |