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http://dx.doi.org/10.7467/KSAE.2014.22.7.107

Road Surface Marking Detection for Sensor Fusion-based Positioning System  

Kim, Dongsuk (The Research Institute of Automotive Electronics and Control, Hanyang University)
Jung, Hogi (Department of Automotive Engineering, Hanyang University)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.22, no.7, 2014 , pp. 107-116 More about this Journal
Abstract
This paper presents camera-based road surface marking detection methods suited to sensor fusion-based positioning system that consists of low-cost GPS (Global Positioning System), INS (Inertial Navigation System), EDM (Extended Digital Map), and vision system. The proposed vision system consists of two parts: lane marking detection and RSM (Road Surface Marking) detection. The lane marking detection provides ROIs (Region of Interest) that are highly likely to contain RSM. The RSM detection generates candidates in the regions and classifies their types. The proposed system focuses on detecting RSM without false detections and performing real time operation. In order to ensure real time operation, the gating varies for lane marking detection and changes detection methods according to the FSM (Finite State Machine) about the driving situation. Also, a single template matching is used to extract features for both lane marking detection and RSM detection, and it is efficiently implemented by horizontal integral image. Further, multiple step verification is performed to minimize false detections.
Keywords
Road surface marking; Positioning system; Sensor fusion; Lane detection; Pattern recognition;
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