Sensor Fusion of a Camera and 2D LIDAR for Lane Detection

Creative Commons License

Yeniaydın Y., Schmidt K. V.

Sinyal İşleme ve İletişim Uygulamaları Kurultayı, Sivas, Turkey, 24 - 26 April 2019, pp.1-4

  • Publication Type: Conference Paper / Full Text
  • City: Sivas
  • Country: Turkey
  • Page Numbers: pp.1-4
  • Middle East Technical University Affiliated: Yes


This paper presents a novel lane detection algorithm based on fusion of camera and 2D LIDAR data. On the one hand, objects on the road are detected via 2D LIDAR. On the other hand, binary bird’s eye view (BEV) images are acquired from the camera data and the locations of objects detected by LIDAR are estimated on the BEV image. In order to remove the noise generated by objects on the BEV, a modified BEV image is obtained, where pixels occluded by the detected objects are turned into background pixels. Then, lane detection is performed on the modified BEV image. Computational and experimental evaluations show that the proposed method significantly increases the lane detection accuracy.