Empirical Evaluation of a Novel Lane Marking Type for Camera and LiDAR Lane Detection

Sven Eckelmann, Toralf Trautmann, Xinyu Zhang, Oliver Michler

2021

Abstract

Highly automated driving requires a zero-error interpretation of the current vehicle environment utilizing state of the art environmental perception based on camera and Light Detection And Ranging (LiDAR) sensors. An essential element of this perception is the detection of lane markings, e.g. for lane departure warnings. In this work, we empirically evaluate a novel kind of lane marking, which enhances the contrast (artificial light-dark boundary) for cameras and 3D retro reflective elements guarantee a better reflection for light beams from a LiDAR. Thus intensity of point data from LiDAR is regarded directly as a feature for lane segmentation. In addition, the 3D lane information from a 2D camera is estimated using the intrinsic and extrinsic camera parameters and the lane width. In the frame of this paper, we present the comparison between the detection based on camera and LiDAR as well as the comparison between conventional and the new lane marking in order to improve the reliability of lane detection for different sensors. As a result, we are able to demonstrate that the track can be detected safely with the LiDAR and the new lane marking.

Paper Citation

in Harvard Style

Eckelmann S., Trautmann T., Zhang X. and Michler O. (2021). Empirical Evaluation of a Novel Lane Marking Type for Camera and LiDAR Lane Detection. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 69-77. DOI: 10.5220/0010550500690077

in Bibtex Style

@conference{icinco21,
author={Sven Eckelmann and Toralf Trautmann and Xinyu Zhang and Oliver Michler},
title={Empirical Evaluation of a Novel Lane Marking Type for Camera and LiDAR Lane Detection},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={69-77},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010550500690077},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Empirical Evaluation of a Novel Lane Marking Type for Camera and LiDAR Lane Detection
SN - 978-989-758-522-7
AU - Eckelmann S.
AU - Trautmann T.
AU - Zhang X.
AU - Michler O.
PY - 2021
SP - 69
EP - 77
DO - 10.5220/0010550500690077