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
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
