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Real-time Lane Marker Detection Using Template Matching with RGB-D Camera

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)

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: Electronics and Communications
Divisions: Faculty of Electronics and Telecommunications (FET)
Depositing User: Dr Minh Trien Pham
Date Deposited: 05 Nov 2017 13:09
Last Modified: 06 Nov 2017 02:29

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