ece498sm_project

Road Detection by combining camera and LIDAR

Files and folders:

• fcn_detector: code for fully convolutional network (FCN) in Tensorflow
• fcn_output: testing results of FCN
• knn_output: testing results of k-nearest neighbor
• runs: training results of FCN
• runs_fusion: sensor fusion results
• 498_LidarRead: code for LIDAR heatmap method
• find_iou.py: calculates the Intersection over Union (IoU) of the result images
• knn.py: code for k-nearest neighbor
• road_detection.py: PyTorch implementation of FCN, has errors and doesn't work

Resources and references:

Vision-based lane detection:

papers:

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8500547 Road detection using KITTI dataset:https://ieeexplore.ieee.org/abstract/document/7759717

Dataset:

https://github.com/TuSimple/tusimple-benchmark/wiki

Code: https://github.com/MaybeShewill-CV/lanenet-lane-detection

LIDAR-base road detection:

code: https://github.com/LidarPerception/kitti_ros

Sensor fusion approach:

papers:

https://arxiv.org/pdf/1809.07941.pdf

https://velodynelidar.com/lidar/hdlpressroom/pdf/Articles/Lidar-based%20lane%20marker%20detection%20and%20mapping.pdf

http://www.cs.toronto.edu/~slwang/lane_detect.pdf

https://www.researchgate.net/publication/260522418_A_Sensor-Fusion_Drivable-Region_and_Lane-Detection_System_for_Autonomous_Vehicle_Navigation_in_Challenging_Road_Scenarios

Dataset:

A good summary of all avaliable datasets: https://mighty.ai/blog/top_open_source_lidar_driving_datasets/ http://www.cvlibs.net/datasets/kitti/eval_road.php