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Real-time lane detection, fitting and navigation for unstructured environments
Author(s): Apoorve Singhal; Vibhakar Mohta; Arvind Jha; Yash Khandelwal; Deepank Agrawal; Shreyas Kowshik; Siddhant Agarwal; Shrey Shrivastava; Vaibhav Lodhi; Debashish Chakravarty
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Paper Abstract

In the outdoor environment, robot perception is a challenging task encompassing several layers of abstractions like lane detection, object detection and avoidance, and way-point navigation. Intelligent Ground Vehicles are becoming popular and having an efficient perception stack is quintessential to its scaling for different tasks. Several issues like illumination variance, shadows, occlusions, etc. cause researchers to adopt computationally heavy approaches for improving generalization. We present a novel, real-time approach for combined lane detection, obstacle detection, and way-point navigation using features from a 2D-LiDAR and camera. A robust curve fitting algorithm has been implemented, adhering to the minimization of computation. The overall processing pipeline has been tested and validated to work well in outdoor conditions.

Paper Details

Date Published: 27 November 2019
PDF: 6 pages
Proc. SPIE 11321, 2019 International Conference on Image and Video Processing, and Artificial Intelligence, 113210P (27 November 2019); doi: 10.1117/12.2547333
Show Author Affiliations
Apoorve Singhal, Indian Institute of Technology Kharagpur (India)
Vibhakar Mohta, Indian Institute of Technology Kharagpur (India)
Arvind Jha, Indian Institute of Technology Kharagpur (India)
Yash Khandelwal, Indian Institute of Technology Kharagpur (India)
Deepank Agrawal, Indian Institute of Technology Kharagpur (India)
Shreyas Kowshik, Indian Institute of Technology Kharagpur (India)
Siddhant Agarwal, Indian Institute of Technology Kharagpur (India)
Shrey Shrivastava, Indian Institute of Technology Kharagpur (India)
Vaibhav Lodhi, Indian Institute of Technology Kharagpur (India)
Debashish Chakravarty, Indian Institute of Technology Kharagpur (India)


Published in SPIE Proceedings Vol. 11321:
2019 International Conference on Image and Video Processing, and Artificial Intelligence
Ruidan Su, Editor(s)

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