| Popis: |
Road lane width is important information not only road management but also autonomous vehicle. Especially, it is normally known that most of autonomous vehicle will use the road lane marking for keeping the travel the road. To measure the lane width, the road lane marking should be detected and then the lane width measured by calculating the interval of two lane markings. The camera and LiDAR are usually used for lane marking detection. However, the performance of each sensor is depend on the sunlight. To compare the performance lane marking recognition, the lane width was selected for performance index. The camera and 3D LiDAR sensors installed on the road survey vehicle and the lane width was measured. The test was conducted on the Korean National Highway and the measurement result from each sensor was compared with the actual lane width. As a result, after the sunrise, the RMSE of camera was 0.19 and the RMSE of 3D LiDAR was 0.34. It was shown that the result from the camera was more favorable compare with the LiDAR. However, before sunrise although the camera could not detect the lane marking, the LiDAR detected the lane marking and measured the lane width as a result of 0.33 RMSE. In conclusion, even though the camera affected by the illumination in terms of recognition objects, the LiDAR is not affected by the illumination. |
