LIDAR and Stereo-Camera fusion for reliable Road Extraction

Mohammed Yazid Lachachi (1) , Mohamed Ouslim (1) , Abdelmalik Taleb-Ahmed (2) , Smail Niar (2, 3)

1 USTO MB - Université des sciences et de la Technologie d'Oran Mohamed Boudiaf [Oran]
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
3 INSA Hauts-De-France - INSA Institut National des Sciences Appliquées Hauts-de-France

his paper presents a novel approach that combines LIDAR and Stereo-cameras. First, a stereo camera is used to guide the extraction of road surface points from a 3D point cloud obtained by a LIDAR. Then, the number of points is reduced based on their elevation and illumination invariant colors. Finally, a post-processing is applied to have a projection in an image to obtain the final segmentation of the road. The method has been tested on three types of roads as defined in the KITTI benchmark. The obtained experimental results prove the effectiveness of our approach and its robustness in accuracy compared to existing approaches in the literature.

Mots clés: Cameras; Microelectronics; Measurement; Image color analysis; Laser radar; Three-dimensional displays; Roads

Domaines: Informatique [cs]

Mohammed Yazid Lachachi, Mohamed Ouslim, Abdelmalik Taleb-Ahmed, Smail Niar. LIDAR and Stereo-Camera fusion for reliable Road Extraction. 2018 30th International Conference on Microelectronics (ICM), Dec 2018, Sousse, Tunisia. pp.64-67, ⟨10.1109/ICM.2018.8704114⟩. ⟨hal-03382394⟩