Lane Detection Algorithm Based on Road Structure and Extended Kalman Filter

Xiao, Jinsheng; Xiong, Wenxin; Yuan, Ye; Li, Liang; Klette, Reinhard

doi:10.4018/ijdcf.2020040101

Cited by 6 publications

(2 citation statements)

References 16 publications

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“…In the initial fitting, the original algorithm is combined with RANSAC (Xiao et al, 2020) and used to fit the disparity plane of the initial disparity map. Specifically, the disparity plane is determined by randomly selecting three different points within the segmentation, and inliers and outliers are distinguished according to their disparity distance between the initial disparity and the fitting slanted plane.…”

Section: Speed Optimizing Of Disparity Plane Fittingmentioning

confidence: 99%

An Improved Energy Segmentation Based Stereo Matching Algorithm

Xiao

Zhou

et al. 2022

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. The stereo matching algorithm is commonly used in dealing with disparity discontinuous areas. However, the algorithm may have higher computational complexity and lack of well-aligned input images. To improve that, this paper presents an improved energy segmentation based stereo matching algorithm. The proposed algorithm incorporates gradient information of each segmented region into the energy function according to the facts that gradients inside the same segmentation should be closer than those from different segmentation. The invalid matching pixels are interpolated with vertical-horizontal nearest neighboring pixels to keep the consistency of stereo image pairs in the initial disparity map. Thus, the proposed method can reduce the deviations and the number of executions of the Random Sample Consensus (RANSAC) which arises from misalignment of input image pairs. Experiments results demonstrate that the proposed algorithm has a better disparity result while the running time is decreased by about 20%.

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Section: Speed Optimizing Of Disparity Plane Fittingmentioning

confidence: 99%

An Improved Energy Segmentation Based Stereo Matching Algorithm

Xiao

Zhou

et al. 2022

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…However, this is not always the case when the boundaries are curved, for instance the ring roads, and hence a high-order parametric model is required. To finetune the process of model fitting for a selected boundary, a conic model combining linear and quadratic polynomial is established (Xiao et al, 2020), which can be represented as…”

Section: Heading Direction Estimationmentioning

confidence: 99%

Automatic roller path tracking and mapping for pavement compaction using infrared thermography

Dai

Zaniewski

2021

Computer aided Civil Eng

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Compaction is an important task in asphalt pavement construction. It ensures high quality of the pavement to provide required long-term performance. Intelligent compaction (IC) integrated with global positioning system (GPS) is an innovative technology to help control the compaction quality of asphalt pavement by continuously providing the operator with the roller's current position and the number of rolling passes. However, the high equipment cost and signal disturbance are two identified issues when adopting the GPS for position estimation. This paper proposed a thermal-based method for real-time roller path tracking and mapping in pavement compaction operations. In this method, first, the incremental roller motion between each two consecutive frames was jointly estimated via calculation of the roller's heading direction by exploiting the pavement boundary information and the roller's translation using the optical flow technique. Then, the accuracy of the estimated incremental motion was optimized by incorporation of the roller's lateral position estimated by a position optimization model proposed by the authors. Finally, the roller's global location was estimated by chaining frame-by-frame roller motions recursively. Both laboratory and field validations were conducted to examine the performance of the proposed method, leading to the maximum mean absolute errors along the lateral direction to be 5.2 mm and 3.3 cm, respectively, and the maximum cumulative error rates along the longitudinal direction to be 0.85% and 0.73%, respectively. The validation results signified the method's potential as a low-cost and applicable alternative to the GPS in the current IC technology for roller's position tracking and mapping.

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Steering Angle Prediction Techniques for Autonomous Ground Vehicles: A Review

et al. 2021

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Unintentional lane departure accidents are one of the biggest reasons for the causalities that occur due to human errors. By incorporating lane-keeping features in vehicles, many accidents can be avoided. The lane-keeping system operates by auto-steering the vehicle in order to keep it within the desired lane, despite of changes in road conditions and other interferences. Accurate steering angle prediction is crucial to keep the vehicle within the road boundaries, which is a challenging task. The main difficulty in this regard is to identify the drivable road area on heterogeneous road types varying in color, texture, illumination conditions, and lane marking types. This strenuous problem can be addressed by two approaches, namely, 'computer-vision-based approach' and 'imitation-learning-based approach'. To the best of our knowledge, at present, there is no such detailed review study covering both the approaches and their related optimization techniques. This comprehensive review attempts to provide a clear picture of both approaches of steering angle prediction in the form of step by step procedures. The taxonomy of steering angle prediction has been presented in the paper for a better comprehension of the problem. We have also discussed open research problems at the end of the paper to help the researchers of this area to discover new research horizons.

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Lane Detection Algorithm Based on Road Structure and Extended Kalman Filter

Cited by 6 publications

References 16 publications

An Improved Energy Segmentation Based Stereo Matching Algorithm

An Improved Energy Segmentation Based Stereo Matching Algorithm

Automatic roller path tracking and mapping for pavement compaction using infrared thermography

Steering Angle Prediction Techniques for Autonomous Ground Vehicles: A Review

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