Road Ortho-image Generation and Road Marking Detection Using Conventional In-vehicle Sensors

摘要

This paper proposes a technique to generate digital road maps suitable for advanced driver assistance systems (ADAS) using low-cost sensors, i.e., a single frequency GPS, a speed sensor, a yaw rate gyro and a rear view camera. This proposal should help to reduce the production costs of accurate digital maps that include road markings and road networks. The key feature of this method is the integration of probe data based on highly accurate trajectories and heading angles to generate digital maps. A unique technique is utilized that estimates accurate vehicle trajectories and heading angles. This paper mainly describes the ortho-image generation and road marking detection of this technique.