Citation

Chen L, Li Q, Li M, Zhang L, Mao Q. Sensors (Basel) 2012; 12(9): 12386-12404.

Affiliation

State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, No.129, Luoyu Road, Wuhan, 430079, China; E-Mails: lchen.whu@gmail.com (L.C.); zl200531610254@126.com (L.Z.); qzhmao@whu.edu.cn (Q.M.) ; School of Electronic Information, Wuhan University, No.129, Luoyu Road, Wuhan, 430079, China.

Copyright

(Copyright © 2012, MDPI: Multidisciplinary Digital Publishing Institute)

DOI

10.3390/s120912386

PMID

23112721

Abstract

This paper describes the environment perception system designed for intelligent vehicle SmartV-II, which won the 2010 Future Challenge. This system utilizes the cooperation of multiple lasers and cameras to realize several necessary functions of autonomous navigation: road curb detection, lane detection and traffic sign recognition. Multiple single scan lasers are integrated to detect the road curb based on Z-variance method. Vision based lane detection is realized by two scans method combining with image model. Haar-like feature based method is applied for traffic sign detection and SURF matching method is used for sign classification. The results of experiments validate the effectiveness of the proposed algorithms and the whole system.

Language: en