NDLI: Road boundary detection based on information entropy

Content Provider	IEEE Xplore Digital Library
Author	Xiao Hu Chao Huang Wei Cai
Copyright Year	2014
Description	Author affiliation: Dept. of Inf., Compiegne Univ. of Technol., Compiegne, France (Chao Huang) \|\| Lab. de Mec. des Fluides et d'Acoust.(LMFA)-UMR 5509, Inst. Nat. des Sci. Appl. de Lyon, Lyon, France (Wei Cai) \|\| Sch. of Autom., Northwestern Polytech. Univ., Xi'an, China (Xiao Hu)
Abstract	Detecting the road boundary is an important step for the applications of Intelligent Vehicle (IV), such as generating the region of interest (ROI) as a prior information for object detection or path planning. Hereafter we propose a new method for detecting road boundaries using Laser Interferometry Detection and Ranging (LIDAR). Ground points are firstly removed from LIDAR point cloud through a preprocessing procedure. Then information entropy is applied here for estimating the steering angle of the host vehicle. The estimated steering angle is later employed to rectify the point cloud. Road boundaries are finally detected based on the maximal value of the corresponding histogram. We compare this approach to the traditional histogram based road boundary detection method. Experiments showed that the proposed method can effectively detect road boundaries even in steering situations and outperform the traditional method.
Starting Page	1520
Ending Page	1525
File Size	1264666
Page Count	6
File Format	PDF
ISBN	9781479937073
e-ISBN	9781479937080
DOI	10.1109/CCDC.2014.6852408
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Histograms Laser radar Intelligent Vehicle Roads Information Entropy Lasers LIDAR Entropy Information entropy Road Boundary Detection Vehicles
Content Type	Text
Resource Type	Article

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