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Automatic Lane Labeling Using an Off-line Smoothing Stereo-lane Algorithm
Linköping University, Department of Electrical Engineering, Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The goal of this thesis has been to create a map of road lanes from piece-wisedetections. Using images from a stereo camera, an existing algorithm is able todetect lane tracks in real-time. With a basis spline (B-spline) representation ofthe tracks, these curve features are converted into point features. These are combinedoff-line with an odometric estimate for the creation of a motion and lanetrack map. Fusion of odometric and feature measurements is done using an optimizationbased simultaneous localization and mapping (slam) method.

By use of visual inspection and a differential global positioning system (dgps) theresult is validated. The method is able to improve on existing motion estimatorsby using the curvature of lane tracks. A projection of the resulting map is usedto automatically label lane tracks as seen from camera view with accuracy andrange exceeding that of the real-time algorithm.

Place, publisher, year, edition, pages
2017. , p. 50
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-141242ISRN: LiTH-ISY-EX--17/5087--SEOAI: oai:DiVA.org:liu-141242DiVA, id: diva2:1145044
External cooperation
Autoliv AB
Subject / course
Automatic Control
Supervisors
Examiners
Available from: 2017-10-12 Created: 2017-09-27 Last updated: 2017-10-12Bibliographically approved

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AutomaticLaneLabelingUsingAnOfflineSmoothingStereoLaneAlgorithm(15020 kB)200 downloads
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CiteExportLink to record
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Citation style
  • apa
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