The goal of this thesis has been to create a map of road lanes from piece-wisedetections. Using images from a stereo camera, an existing algorithm is able todetect lane tracks in real-time. With a basis spline (B-spline) representation ofthe tracks, these curve features are converted into point features. These are combinedoff-line with an odometric estimate for the creation of a motion and lanetrack map. Fusion of odometric and feature measurements is done using an optimizationbased simultaneous localization and mapping (slam) method. By use of visual inspection and a differential global positioning system (dgps) theresult is validated. The method is able to improve on existing motion estimatorsby using the curvature of lane tracks. A projection of the resulting map is usedto automatically label lane tracks as seen from camera view with accuracy andrange exceeding that of the real-time algorithm.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-141242 |
| Date | January 2017 |
| Creators | Hartman, Mikael |
| Publisher | Linköpings universitet, Reglerteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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