relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2614/
title: Real-time Lane Marker Detection Using Template Matching with RGB-D Camera
creator: Quach, Cong Hoang
creator: Phung, Manh Duong
creator: Pham, Minh Trien
creator: Nguyen, Hung
creator: Nguyen, Thang
creator: Tran, Van Lien
subject: Electronics and Communications
description: This paper addresses the problem of lane  detection which is fundamental for self-driving vehicles.  Our approach exploits both colour and depth information  recorded by a single RGB-D camera to better deal with  negative factors such as lighting conditions and lane-like  objects. In the approach, the colour and depth images  are first converted to a half-binary format and a 2D  matrix of 3D points. Those representations are then used  as inputs of template matching and geometric feature  extraction processes to calculate a response map that  its values present the probability of pixels being lane  markers. To enhance the result, the principal component  analysis and lane model fitting techniques are employed  to refine the template and form lane surfaces. A number  of experiments have been conducted on both synthetic  and real datasets. The result shows that the proposed  approach can effectively eliminate the unwanted noise  to accurately detect lane markers in various scenarios.  With the hardware configuration of a popular laptop  computer, the program implementation operates at the  speed of 20 frames per second which is sufficient for  real-time autonomous driving applications.
date: 2018-01
type: Conference or Workshop Item
type: PeerReviewed
identifier:   Quach, Cong Hoang and Phung, Manh Duong and Pham, Minh Trien and Nguyen, Hung and Nguyen, Thang and Tran, Van Lien  (2018) Real-time Lane Marker Detection Using Template Matching with RGB-D Camera.  In: 2018 The International Conference on Recent Advances in Signal Processing, Telecommunications & Computing (SigTelCom), 29-31 January 2018, Ho Chi Minh city, Vietnam.    (In Press)