Takuya Nanri - Nissan Co., Japan
Abstract: We propose a general-purpose road boundary detection method, which can detect low height curbs, curved curbs, vegetation and ditches. Many conventional methods based on Digital Elevation Map (DEM) can only deal with ordinary curbs because they focus on step-edge detection in DEM. The proposed method adopts a dedicated edge detection process on several multi-directional scanning lines and a temporal filtering process. Therefore, it can detect a variety of road boundaries even with smooth edges and jagged boundaries robustly and precisely. The experimental results show that the proposed method can detect more kinds of road boundaries than a conventional DEM-based approach.