Computer Science ›› 2013, Vol. 40 ›› Issue (Z11): 405-408.

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Detecting and Tracking Edges of the Lane Based on Range Images

WANG Qian,GUO Li and SHI Hang-fei   

  • Online:2018-11-16 Published:2018-11-16

Abstract: The range image of the laser scanner could be used to detect and track edges of the lane.By clustering and analyzing the scan points,edges of the lane could be detected,edges of the lane could be substituted by fitting lines through the least square algorithm.Based on the fitting lines,edges of the lane could be tracked by Kalman filter.Expe-rimental results show the accuracy and robust of the algorithm.

Key words: Laser scanner,Range image,Detecting edges of the lane,Racking edges of the lane

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