In: Paparoditis N., Pierrot-Deseilligny M.. Mallet C.. Tournaire O. (Eds). IAPRS. Vol. XXXVIII, Part ЗА - Saint-Mandé, France, September 1-3, 2010
Figure 16: top view of the interpreted 3D environment
istic reconstructions are achieved using multiple 2D lidar sensors
and texturized thanks to a lidar / camera cross calibration, when
driving at a normal speed.
New algorithm have been developed which can cope with various
situations. Road boundaries are detected using a two-step method
based on local road shape, which proves to be very precise even
on rural roads, where there are no curb. Road sides and main axis
are then fitted by arc-length parametrized NURBS, which allow
us to compute road width and curvature at the desired resolution.
Besides, road markings and traffic signs are extracted using the
reflectivity information provided by the lidar sensors ; image pro
cessing allow us to interpret these informations. These results are
gathered into a geographic information system that can be con
sulted trough our internal software.
Future works will concern world interpretation, providing infor
mation such as road furniture classification, traffic sign aging -
using a patented system - or bridge characterization.
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