This thesis is carried out in the context of Advanced Driver Assistance Systems, and especially autonomous vehicles. Its aim is to propose a method to enhance localization of vehicles on roads. I suggests using a camera to detect lane markings, and to match these to a map to extract the corrected position of the vehicle.The thesis is divided in three parts dealing with: the map, the line detector and the evaluation. The map is based on the OpenStreetMap data. The line detector is a based on ridge detection. The results are compared with an Iterative Closest Point algorithm. It also focuses on implementing the components under a real-time constraint. Technologies such as ROS, for synchronization of the data, and CUDA, for parallelization, are used.

Original document

The different versions of the original document can be found in:

Back to Top

Document information

Published on 01/01/2015

Volume 2015, 2015
Licence: CC BY-NC-SA license

Document Score


Views 1
Recommendations 0

Share this document

claim authorship

Are you one of the authors of this document?