An introduction to splines for use in computer graphics & geometric modeling
An introduction to splines for use in computer graphics & geometric modeling
Vision and navigation for the Carnegie-Mellon navlab
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special Issue on Industrial Machine Vision and Computer Vision Technology:8MPart
Recursive 3-D Road and Relative Ego-State Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
The handbook of brain theory and neural networks
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Rapidly Adapting Machine Vision for Automated Vehicle Steering
IEEE Expert: Intelligent Systems and Their Applications
A machine vision system for lane-departure detection
Computer Vision and Image Understanding
Road lane segmentation using dynamic programming for active safety vehicles
Pattern Recognition Letters
A lane-departure identification based on LBPE, Hough transform, and linear regression
Computer Vision and Image Understanding
A perception-driven autonomous urban vehicle
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
Simultaneous local and global state estimation for robotic navigation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation
IEEE Transactions on Intelligent Transportation Systems
Robust Lane Detection and Tracking in Challenging Scenarios
IEEE Transactions on Intelligent Transportation Systems
Evolution of an artificial neural network based autonomous landvehicle controller
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
IEEE Transactions on Image Processing
Probabilistic lane estimation for autonomous driving using basis curves
Autonomous Robots
Recent progress in road and lane detection: a survey
Machine Vision and Applications
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This paper describes a system for detecting and estimating the properties of multiple travel lanes in an urban road network from calibrated video imagery and laser range data acquired by a moving vehicle. The system operates in real-time in several stages on multiple processors, fusing detected road markings, obstacles, and curbs into a stable non-parametric estimate of nearby travel lanes. The system incorporates elements of a provided piecewise-linear road network as a weak prior.Our method is notable in several respects: it detects and estimates multiple travel lanes; it fuses asynchronous, heterogeneous sensor streams; it handles high-curvature roads; and it makes no assumption about the position or orientation of the vehicle with respect to the road.We analyze the system's performance in the context of the 2007 DARPA Urban Challenge. With five cameras and thirteen lidars, our method was incorporated into a closed-loop controller to successfully guide an autonomous vehicle through a 90 km urban course at speeds up to 40 km/h amidst moving traffic.