Detecting and Tracking Edges of the Lane Based on Range Images
Wang Qia · 2013
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.Experimental results show the accuracy and robust of the algorithm.