eprintid: 2614
rev_number: 11
eprint_status: archive
userid: 11
dir: disk0/00/00/26/14
datestamp: 2017-11-05 13:09:51
lastmod: 2017-11-06 02:29:11
status_changed: 2017-11-05 13:09:51
type: conference_item
metadata_visibility: show
creators_name: Quach, Cong Hoang
creators_name: Phung, Manh Duong
creators_name: Pham, Minh Trien
creators_name: Nguyen, Hung
creators_name: Nguyen, Thang
creators_name: Tran, Van Lien
creators_id: hoangqc@vnu.edu.vn
creators_id: duongpm@vnu.edu.vn
creators_id: trienpm@vnu.edu.vn
creators_id: 14020780@vnu.edu.vn
creators_id: 16020048@vnu.edu.vn
creators_id: 14020768@vnu.edu.vn
title: Real-time Lane Marker Detection Using Template Matching with RGB-D Camera
ispublished: inpress
subjects: ECE
divisions: fac_fet
abstract: 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
date_type: published
full_text_status: none
pres_type: paper
event_title: 2018 The International Conference on Recent Advances in Signal Processing, Telecommunications & Computing (SigTelCom)
event_location: Ho Chi Minh city, Vietnam
event_dates: 29-31 January 2018
event_type: conference
refereed: TRUE
citation:   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)