Research on automatic lane line extraction method based on onboard lidar point cloud data

Tianyu Fan; Ruiju Zhang

doi:10.1117/12.2641593

4 August 2022 Research on automatic lane line extraction method based on onboard lidar point cloud data

Tianyu Fan, Ruiju Zhang

Proceedings Volume 12306, Second International Conference on Digital Signal and Computer Communications (DSCC 2022); 123060P (2022) https://doi.org/10.1117/12.2641593
Event: Second International Conference on Digital Signal and Computer Communications (DSCC 2022), 2022, Changchun, China

Abstract

Aiming at the problems that the extraction of lane lines at home and abroad is greatly affected by light, the extraction speed is slow, and the robustness is poor, an automatic extraction method based on lidar point cloud data is proposed. Due to the large amount of road point cloud data, this method adopts the strategy of divide and conquer. First, the point cloud is divided into blocks, and then analyzed block by block. The point cloud clustering filtering algorithm is used to perform preliminary processing on each piece of data, and then highly filter it to extract the ground point cloud; then based on the point cloud brightness gradient to extract the marker line; finally, the vectorization and extraction of road dashed lines and road shoulders was realized using improved Hough linear detection methods. In order to verify the robustness and feasibility of the algorithm, we selected the data of different road segment in the university campus, and then accurately evaluate the results. The experimental results show that this method takes 5.2s to process 9812062 points, the average lateral offset rate is 7.2%, and the overall detection accuracy is 96.1%, which is better than other methods. It can accurately extract the shoulder line and the dashed line of the road motor lane. It has certain practical application value in autonomous driving and unmanned driving based on lidar point cloud data.

Citation Download Citation

Tianyu Fan and Ruiju Zhang "Research on automatic lane line extraction method based on onboard lidar point cloud data", Proc. SPIE 12306, Second International Conference on Digital Signal and Computer Communications (DSCC 2022), 123060P (4 August 2022); https://doi.org/10.1117/12.2641593

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KEYWORDS

Clouds

Roads

Detection and tracking algorithms

Hough transforms

LIDAR

Data acquisition

Feature extraction

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