NDLI: A global and local condensation for lane tracking

Content Provider	IEEE Xplore Digital Library
Author	Wentao Yao Zhidong Deng Zhenhua Chen
Copyright Year	2012
Description	Author affiliation: State Key Laboratory of Intelligent Technology and Systems, Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China (Wentao Yao; Zhidong Deng; Zhenhua Chen)
Abstract	In this paper, we present a new condensation filtering algorithm that combines local and global information for tracking of lane markings. Local model is used for condensation particle filtering while global one for resampling of local filters and vehicle control command. The detection and tracking process is done based on bird's-eye images in real-time. Unlike most of the state-of-art systems, in our system, with the help of a 3D lidar mounted on the vehicle, the computation of bird's-eye image and the dynamic pitch estimation could be readily and accurately accomplished through joint calibration of camera and 3D lidar. In addition, multiple image features are fused to weight particles. The experimental results on various road environments demonstrate the robustness of our approach.
Starting Page	276
Ending Page	281
File Size	1095235
Page Count	6
File Format	PDF
ISBN	9781467330640
ISSN	21530009
e-ISBN	9781467330633
e-ISBN	9781467330626
DOI	10.1109/ITSC.2012.6338864
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-16
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Roads Cameras Laser radar Computational modeling Image edge detection Estimation
Content Type	Text
Resource Type	Article

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