Citation

Hara K, Saito H. Trans. Soc. Automot. Eng. Jpn. 2016; 47(1): 183-188.

Copyright

(Copyright © 2016, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.47.183

PMID

unavailable

Abstract

High-precision and low-cost lane-level map are required from autonomous driving systems and advanced driving assistant systems. This paper proposes an automatic map synthesis method from laser point clouds that are scanned by a Mobile Mapping System (MMS). In this method, we apply a gradient image processing to detect map line segments.

RESULTS of the comparison of auto-extracted map and handmade map for the evaluation achieved over 80% extraction rate with an accuracy of 90%. We apply this system to a vehicle localization problem by matching camera images and the map and achieved sub-meter accuracy.

Language: ja

Keywords

Localization; Map; Road environment; Road environment recognition; Safety