gwx18800155805 / lane-detection

point cloud lane detection

lane-detection

Authors: William Wang, Felix Wang

Problem Statement

Find equations for lane markings in point cloud data.

Data Specification

final_project_point_cloud.fuse :

Point cloud data.
Data format:
	[latitude] [longitude] [altitude] [intensity]

Notice lane markings are reflexive and thus corresponding points will have higher intensity.

Usage

1. To get pcl_viewer: sudo apt-get install pcl-tool
2. To open and display .pcd file: pcl_viewer filename.pcd
   • To turn on intensity, press 5

Package Used:

1. PCL
2. pyproj
3. numpy
4. scipy
5. matplotlib
6. sklearn

How-To run program:

1. Put program in the same data folder as final_project_point_cloud.fuse
2. python lane-detection.py

Method

Please refer to the slides for details. Feel free to contact authors if you have further questions.