Real-time lane detection, fitting and navigation for unstructured environments

Apoorve Singhal; Vibhakar Mohta; Arvind Jha; Yash Khandelwal; Deepank Agrawal; Shreyas Kowshik; Siddhant Agarwal; Shrey Shrivastava; Vaibhav Lodhi; Debashish Chakravarty

doi:10.1117/12.2547333

27 November 2019 Real-time lane detection, fitting and navigation for unstructured environments

Apoorve Singhal, Vibhakar Mohta, Arvind Jha, Yash Khandelwal, Deepank Agrawal, Shreyas Kowshik, Siddhant Agarwal, Shrey Shrivastava, Vaibhav Lodhi, Debashish Chakravarty

Author Affiliations +

Proceedings Volume 11321, 2019 International Conference on Image and Video Processing, and Artificial Intelligence; 113210P (2019) https://doi.org/10.1117/12.2547333
Event: The Second International Conference on Image, Video Processing and Artifical Intelligence, 2019, Shanghai, China

Abstract

In the outdoor environment, robot perception is a challenging task encompassing several layers of abstractions like lane detection, object detection and avoidance, and way-point navigation. Intelligent Ground Vehicles are becoming popular and having an efficient perception stack is quintessential to its scaling for different tasks. Several issues like illumination variance, shadows, occlusions, etc. cause researchers to adopt computationally heavy approaches for improving generalization. We present a novel, real-time approach for combined lane detection, obstacle detection, and way-point navigation using features from a 2D-LiDAR and camera. A robust curve fitting algorithm has been implemented, adhering to the minimization of computation. The overall processing pipeline has been tested and validated to work well in outdoor conditions.

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Apoorve Singhal, Vibhakar Mohta, Arvind Jha, Yash Khandelwal, Deepank Agrawal, Shreyas Kowshik, Siddhant Agarwal, Shrey Shrivastava, Vaibhav Lodhi, and Debashish Chakravarty "Real-time lane detection, fitting and navigation for unstructured environments", Proc. SPIE 11321, 2019 International Conference on Image and Video Processing, and Artificial Intelligence, 113210P (27 November 2019); https://doi.org/10.1117/12.2547333

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KEYWORDS

Cameras

Environmental sensing

Image processing

Image segmentation

Light sources and illumination

Detection and tracking algorithms

Feature extraction

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