Supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIT)

Real Time Lateral Distance Estimation of other vehicles

[Basic Sensor] 7 Livox Horizon LiDARs which cover 360 degree, ZED stereo Camera

[0] Project Introduction

Distance between mid-center points of vehicles and adjacent lanes

2D Object Tracking and Lane Detection methods are omitted. My another repository dealt with that.

[1] Detecting Lanes and Tracking Objects

Github_num1.mp4

[2] Point Cloud Data Preprocessing

[2-1] Merging multi LiDARs

Before Merging / After Merging

[2-2] Point Cloud Segmentation

Obstacle Point Cloud / Plane Point Cloud

[3] Interesting Pixels Plotting on Image

Get a point on the lower middle part of bounding box

Get the points of lanes corresponding adjacent objects

FullSizeRender.1.mov

[4] Preparing to get Point Cloud projected on Image point for getting distance

[4-1] Project the 3D points of obstacles and plane onto the image, respectively

[4-2] Measure the distance between the two points using the projected point cloud on specific pixels

Point_Distance.1.mp4

[5] Appling in real time on driving and display the distance

Github_Lane.mp4