This project work is carried out in the context of Advanced Driver Assistance Systems, and especially autonomous vehicles. The project aims to propose a method to enhance localization of vehicles on roads.
It 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 Open Street Map 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.
Author: David, Jean-alix