Combined Lane Mapping Using a Mobile Mapping System

Autor: Rui Wan, Yuchun Huang, Rongchang Xie, Ping Ma
Jazyk: angličtina
Rok vydání: 2019
Předmět:
Zdroj: Remote Sensing, Vol 11, Iss 3, p 305 (2019)
Druh dokumentu: article
ISSN: 2072-4292
11030305
DOI: 10.3390/rs11030305
Popis: High-definition mapping of 3D lane lines has been widely needed for the highway documentation and intelligent navigation of autonomous systems. A mobile mapping system (MMS) captures both accurate 3D LiDAR point clouds and high-resolution images of lane markings at highway driving speeds, providing an abundant data source for combined lane mapping. This paper aims to map lanes with an MMS. The main contributions of this paper include the following: (1) an intensity correction method was introduced to eliminate the reflectivity inconsistency of road-surface LiDAR points; (2) a self-adaptive thresholding method was developed to extract lane markings from their complicated surroundings; and (3) a LiDAR-guided textural saliency analysis of MMS images was proposed to improve the robustness of lane mapping. The proposed method was tested with a dataset acquired in Wuhan, Hubei, China, which contained straight roads, curved roads, and a roundabout with various pavement markings and a complex roadside environment. The experimental results achieved a recall of 96.4%, a precision of 97.6%, and an F-score of 97.0%, demonstrating that the proposed method has strong mapping ability for various urban roads.
Databáze: Directory of Open Access Journals
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