A Lane-Level Road Marking Map Using a Monocular Camera

doi:10.1109/JAS.2021.1004293

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	A Lane-Level Road Marking Map Using a Monocular Camera
	Wonje Jang; Junhyuk Hyun; Jhonghyun An; Minho Cho; Euntai Kim
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:1 页码:187-204
关键词	Autonomous driving lane-level map road lane road marking map symbolic road marking weighted loss
ISSN号	2329-9266
DOI	10.1109/JAS.2021.1004293
英文摘要	The essential requirement for precise localization of a self-driving car is a lane-level map which includes road markings (RMs). Obviously, we can build the lane-level map by running a mobile mapping system (MMS) which is equipped with a high-end 3D LiDAR and a number of high-cost sensors. This approach, however, is highly expensive and ineffective since a single high-end MMS must visit every place for mapping. In this paper, a lane-level RM mapping system using a monocular camera is developed. The developed system can be considered as an alternative to expensive high-end MMS. The developed RM map includes the information of road lanes (RLs) and symbolic road markings (SRMs). First, to build a lane-level RM map, the RMs are segmented at pixel level through the deep learning network. The network is named RMNet. The segmented RMs are then gathered to build a lane-level RM map. Second, the lane-level map is improved through loop-closure detection and graph optimization. To train the RMNet and build a lane-level RM map, a new dataset named SeRM set is developed. The set is a large dataset for lane-level RM mapping and it includes a total of 25157 pixel-wise annotated images and 21000 position labeled images. Finally, the proposed lane-level map building method is applied to SeRM set and its validity is demonstrated through experimentation.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45984]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Wonje Jang,Junhyuk Hyun,Jhonghyun An,et al. A Lane-Level Road Marking Map Using a Monocular Camera[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(1):187-204.
APA	Wonje Jang,Junhyuk Hyun,Jhonghyun An,Minho Cho,&Euntai Kim.(2022).A Lane-Level Road Marking Map Using a Monocular Camera.IEEE/CAA Journal of Automatica Sinica,9(1),187-204.
MLA	Wonje Jang,et al."A Lane-Level Road Marking Map Using a Monocular Camera".IEEE/CAA Journal of Automatica Sinica 9.1(2022):187-204.