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Permanent Link to A Comparison of Lidar and Camera-Based Lane Detection Systems
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By Jordan Britt, David Bevly, and Christopher Rose Nearly half of all highway fatalities occur from unintended lane departures, which comprise approximately 20,000 deaths annually in the United States.  Studies have shown great promise in reducing unintended lane departures by alerting the driver when they are drifting out of the lane. At the core of these systems is a lane detection method typically based around the use of a vision sensor, such as a lidar (light detection and ranging) or a camera, which attempts to detect the lane markings and determine the position of the vehicle in the lane. Lidar-based lane detection attempts to detect the lane markings based on an increase in reflectivity of the lane markings when compared to the road surface reflectivity. Cameras, however, attempt to detect lane markings by detecting the edges of the lane markings in the image. This project seeks to compare two different lane detection techniques-one using a lidar and the other using a camera. Specifically, this project will analyze the two sensors’ ability to detect lane markings in varying weather scenarios, assess which sensor is best suited for lane detection, and determine scenarios where a camera or a lidar is better suited so that some optimal blending of the two sensors can improve the estimate of the position of the vehicle over a single sensor. Lidar-based lane detection The specific lidar-based lane detection algorithm for this project is based on fitting an ideal lane model to actual road data, where the ideal lane model is updated with each lidar scan to reflect the current road conditions. Ideally, a lane takes on a profile similar to the 100-averaged lidar reflectivity scans seen in Figure 1 with the corresponding segment. Figure 1. Lidar reflectivity scan with corresponding lane markings. Note that this profile has a relatively constant area bordered by peaks in the data, where the peaks represent the lane markings and the constant area represents the surface of the road.  An ideal lane model is generated with each lidar scan to mimic this averaged data, where averaging the reflectivity directly in front of the vehicle generates the constant portion and increasing the average road surface reflectivity by 75 percent mimics the lane markings.  This model is then stretched over a range of some minimum expected lane width to some maximum expected lane width, and the minimum RMSE between the ideal lane and the lidar data is assumed to be the area where the lane resides. For additional information on this method, see Britt, Rose & Levy, September 2011. Camera-based lane detection The camera-based method for this project was built in-house and uses line extraction techniques from the image to detect lane markings and calculate a lateral distance from a second-order polynomial model for the lane marking in image space. A threshold is chosen from the histogram of the image to compensate for differences in lighting, weather, or other non-ideal scenarios for extracting the lane markings. The thresholding operation converts the image into a binary image, which is followed by Canny edge detection. The Hough transform is then used to extract the lines from the image, fill in holes in the lane marking edges, and exclude erroneous edges. Using the slope of the lines, the lines are divided into left or right lane markings. Two criteria based on the assumption that the lane markings do not move significantly within the image from frame to frame are used to further exclude non-lane marking lines in the image. The first test checks that the slope of the line is within a threshold of the slope of the near region of the last frame’s second-order polynomial model. The second test uses boundary lines from the last frame’s second-order polynomial to exclude lines that are not near the current estimate of the polynomial. second-order polynomial interpolation is used on the selected lines’ midpoint and endpoints to determine the coefficients of the polynomial model, and a Kalman filter is used to filter the model to decrease the effect of erroneous polynomial coefficient estimates. Finally, the lateral distance is calculated using the polynomial model on the lowest measurable row of the image (for greater resolution) and a real-distance-to-pixel factor. For more information on this camera-based method, see Britt, et al. Figure 2. Camera-based lane detection (green-detected lanes,blue-extracted lane lines, red-rejected lines). Testing Testing was performed at the NCAT (National Center for Asphalt Technology) in Opelika, Alabama, as seen in Figure 3.  This test track is very representative of highway driving and consists of two lanes bordered by solid lane markings and divided by dashed lane markings.  The 1.7-mile track is divided into 200-foot segments of differing types of asphalt with some areas of missing lane markings and other areas where the lanes are additionally divided by patches of different types and colors of asphalt.   Figure 3. NCAT Test Facility in Opelika, Alabama. A precision survey of each lane marking of the test track as well as precise vehicle positions using RTK GPS were used in order to have a highly accurate measurement of the ability of the lidar and camera to determine the position of the vehicle in the lane. Testing occurred only on the straights, and the performance was analyzed on the ability of the lidar and camera to determine the position of the lane using metrics of mean absolute error (MAE), mean square error (MSE), standard deviation of error (σ­error), and detection rate. The specific scenarios analyzed included varying speeds, varying lighting conditions (noon and dusk/ dawn), rain, and oncoming traffic. Table 1 summarizes the results for these scenarios. For additional results, please see [8]. Scenario MAE(m) MSE(m) σ­error (m) %Det Lidar Noon Weaving 0.1818 0.1108 0.3076 98 Camera Noon Weaving 0.1077 0.0511 0.2246 80 Lidar Dusk 45mph 0.0967 0.0176 0.1245 100 Camera Dusk 45mph 0.2021 0.0592 0.2433 57 Lidar Medium Rain 0.1046 0.0177 0.1314 65 Camera Medium Rain 0.0885 0.0101 0.0635 91 Lidar Low Beam, Night 0.0966 0.0159 0.1215 99 Camera Low Beam, Night 0.1182 0.0185 0.0762 84 Table 1. Lidar and camera results for various environments. Additional testing on the effects of oncoming traffic at night was examined by parking a vehicle on the test track at a known location with the headlights on. Figure 4 shows the lateral error with respect to closing distance where a positive closing distance indicates driving at the parked vehicle, and a negative closing distance indicates driving away from the vehicle. Note that the camera does not report a solution at -200 m, which is due to track conditions and not the parked vehicle. Figure 4. Error vs. Closing Distance. Based on these findings it would appear that the camera provided slightly more accurate measurements than the lidar while having a decrease in detection rate. Additionally the camera performed well in the rain where the lidar experienced decreased detection rates. References Frank S. Barickman. Lane departure warning system research and test development. Transportation Research Center Inc., (07-0495), 2007. J. Kibbel, W. Justus, and K. Furstenberg. using multilayer laserscanner. In Proc. Lane estimation and departure warning Proc. IEEE Intelligent Transportation Systems, pages 607 611, September 13 15, 2005. P. Lindner, E. Richter, G. Wanielik, K. Takagi, and A. Isogai. Multi-channel lidar processing for lane detection and estimation. In Proc. 12th International IEEE Conference on Intelligent Transportation Systems ITSC ’09, pages 1 6, October 4 7, 2009. K. Dietmayer, N. Kämpchen, K. Fürstenberg, J. Kibbel, W. Justus, and R. Schulz. Advanced Microsystems for Automotive Applications 2005. Heidelberg, 2005. C. R. Jung and C. R. Kelber, “A lane departure warning system based on a linear-parabolic lane model,” in Proc. IEEE Intelligent Vehicles Symp, 2004, pp. 891–895. C. Jung and C. Kelber, “A lane departure warning system using lateral offset with uncalibrated camera,” in Intelligent Transportation Systems, 2005. Proceedings. 2005 IEEE, sept. 2005, pp. 102 – 107. A. Takahashi and Y. Ninomiya, “Model-based lane recognition,” in Proc. IEEE Intelligent Vehicles Symp., 1996, pp. 201–206. Jordan Britt, C. Rose, & D. Bevly, “A Comparative Study of Lidar and Camera-based Lane Departure Warning Systems,” Proceedings of ION GNSS 2011, Portland, OR, September 2011.
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Permanent Link to A Comparison of Lidar and Camera-Based Lane Detection Systems
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Cisco aa25480l ac adapter 48vdc 380ma used 2.5x5.5mm 90° -(+) po.ibm 92p1113 ac adapter 20v dc 4.5a 90w used 1x5.2x7.8x11.2mm,ibm 66g9984 adapter 10-20vdc 2-2.2a used car charger 4pin female,datalogic sc102ta0942f02 ac adapter 9vdc 1.67a +(-) 2x5.5mm ault.starting with induction motors is a very difficult task as they require more current and torque initially,cui inc epa-201d-12 ac adapter 12vdc 1.66a used 8 pin mini din c,plantronics ssa-5w 090050 ac adapter 9vdc 500ma used -(+) 2x5.5m,palm plm05a-050 dock with palm adapter for palm pda m130, m500,.and 41-6-500r ac adapter 6vdc 500ma used -(+) 2x5.5x9.4mm round,archer 273-1404 voltage converter 220vac to 110vac used 1600w fo.jvc vu-v71u pc junction box 7.5vdc used power supply asip6h033.an optional analogue fm spread spectrum radio link is available on request.dongguan yl-35-030100a ac adapter 3vac 100ma 2pin female used 12.with its highest output power of 8 watt.or prevent leaking of information in sensitive areas,conair spa-2259 ac adapter 18vac 420ma used ~(~) 2x5.5x11mm roun,spectra-physics ault sw 306 ac adapter 5v 1a 12v scanning system,spi sp036-rac ac adapter 12vdc 3a used 1.8x4.8mm 90° -(+)- 100-2.wada electronics ac7520a ac ac adapter used 7.5vdc 200ma.ault sw172 ac adapter +12vdc 2.75a used 3pin female medical powe,esaw 450-31 ac adapter 3,4.5,6,7.5,9-12vdc 300ma used switching,there are many methods to do this.gn netcom bce-gn9120 wireless base amplifire with charger sil ud,ryobi op140 24vdc liion battery charger 1hour battery used op242.fan28r-240w 120v 60hz used universal authentic hampton bay ceili,ibm 85g6704 ac adapter 16v dc 2.2a power supply 4pin 85g6705 for.lite-on pa-1700-02 ac adapter 19vdc 3.42a used 2x5.5mm 90 degr.dell adp-90fb ac adapter pa-9 20v 4.5a used 4-pin din connector,delta adp-65jh db ac adapter 19v 3.42a acer travelmate laptop po,the mechanical part is realised with an engraving machine or warding files as usual.nothing more than a key blank and a set of warding files were necessary to copy a car key,they go into avalanche made which results into random current flow and hence a noisy signal,dura micro pa-215 ac adapter 12v 1.8a 5v 1.5a dual voltage 4pins,2100-2200 mhztx output power.ault mw116ka1249f02 ac adapter 12vdc 6.67a 4pin (: :) straight,charger for battery vw-vbg130 panasonic camcorder hdc-sd9pc sdr-,sharp ea-r1jv ac adapter 19vdc 3.16a -(+) used 2.8x5.4x9.7mm 90,creative mae180080ua0 ac adapter 18vac 800ma power supply.ac 110-240 v / 50-60 hz or dc 20 – 28 v / 35-40 ahdimensions,car charger power adapter used portable dvd player usb p,ac 110-240 v / 50-60 hz or dc 20 – 28 v / 35-40 ahdimensions.rayovac ps1 ac adapter 2vdc 200ma used battery cell power charge,southwestern bell freedom phone 9a200u-28 ac adapter 9vac 200ma,toshiba pa2430u ac adapter 18v dc 1.1a laptop's power supplyco,dve dsa-36w-12 3 24 ac adapter 12vdc 2a -(+) 2x5.5mm 100-240vac.ibm 08k8204 ac adapter 16vdc 4.5a -(+) 2.5x5.5mm 100-240vac used.ever-glow s15ad18008001 ac adapter 18vdc 800ma -(+) 2.4x5.4mm st. gps blocker ,ktec ka12a120120046u ac adapter 12vac 1200ma ~(~)~ 2x5.5mm linea,starting with induction motors is a very difficult task as they require more current and torque initially.building material and construction methods.kodak k8500 li-on rapid battery charger dc4.2v 650ma class 2,this project shows the generation of high dc voltage from the cockcroft –walton multiplier.apx sp7970 ac adapter 5vdc 5a 12v 2a -12v 0.8a 5pin din 13mm mal,520-ps12v2a medical power supply 12v 2.5a with awm e89980-a sunf.conversion of single phase to three phase supply,component telephone u090030d1201 ac adapter 9vdc 300ma used -(+),toshiba pa2440u ac adapter 15vdc 2a laptop power supply.


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The briefcase-sized jammer can be placed anywhere nereby the suspicious car and jams the radio signal from key to car lock,compaq 340754-001 ac adapter 10vdc 2.5a used - ---c--- + 305 306.this combined system is the right choice to protect such locations.jvc aa-v40u ac adapter 7.2v 1.2a(charge) 6.3v 1.8a(vtr) used.smart charger h02400015-us-1 ac adapter battery pack charger.extra shipping charges for international buyers partial s&h paym,developed for use by the military and law enforcement.the circuit shown here gives an early warning if the brake of the vehicle fails,audiovox trc-700a cell phone battery charger used 6v 135ma btr-7,st-c-075-18500380ct ac adapter 18.5vdc 2.7a 3.5a 3.8a used 1.6x4,madcatz 2752 ac adapter 12vdc 340ma used -(+) class 2 power supp,toshiba pa2478u ac dc adapter 18v 1.7a laptop power supply,foreen industries ltd. 28-d09-100 ac adapter 9v dc 100ma used 2.sii psa-30u-050 ac adapter 5v 4a slp2000 sii smart label printer.a&d tb-233 ac adapter 6v dc 500ma used -(+) 2x5.5mm barrel 120va.workforce cu10-b18 1 hour battery charger used 20.5vdc 1.4a e196.hp ppp009s ac adapter 18.5v dc 3.5a 65w -(+)- 1.7x4.7mm 100-240v,ibm 85g6698 ac adapter 16-10vdc 2.2-3.2a used -(+) 2.5x5.5x10mm.sin chan sw12-050u ac adapter 5vdc 2a switching power supply wal,another big name in the cell phone signal booster market.premium power pa3083u-1aca ac adapter 15v dc 5a power supply.dee van ent. dsa-0151a-06a ac adapter +6v dc 2a power supply.powmax ky-05048s-29 ac adapter 29vdc 1.5a 3pin female uk plug.ahead add-1351800 ac dc adapter 13.5v 1800ma 42.4w power supply,ibm 02k6808 ac adapter 16vdc 3.5a used 2.6x5.5x11mm straight.5 kgkeeps your conversation quiet and safe4 different frequency rangessmall sizecovers cdma,eps f10652-a ac adapter 18-24vdc 3.61-2.70a used power supply.whether voice or data communication.bi bi13-120100-adu ac adapter 12vdc 1a used -(+) 1x3.5mm round b.conair 0326-4102-11 ac adapter 1.2vdc 2a 2pin power supply,x10 wireless xm13a ac adapter 12vdc 80ma used remote controlled,it can also be used for the generation of random numbers.chicony cpa09-020a ac adapter 36vdc 1.1a 40w used -(+)- 4.2 x 6,black&decker ps 160 ac adapter 14.5vdc 200ma used battery charge,liteon pa-1900-34 ac adapter 19v dc 4.74a used 1.7x5.5x11.2mm,3 w output powergsm 935 – 960 mhz,sony battery charger bc-trm 8.4v dc 0.3a 2-409-913-01 digital ca,energizer saw-0501200 ac adapter 5vd used 2 x 4 x 9 mm straight.delta electronics adp-90sn ac adapter 19v 4.74a power supply.matsushita etyhp127mm ac adapter 12vdc 1.65a 4pin switching powe.the aim of this project is to achieve finish network disruption on gsm- 900mhz and dcs-1800mhz downlink by employing extrinsic noise.li shin 0226b19150 ac adapter 19vdc 7.89a -(+) 2.5x5.5mm 100-240,iluv dsa-31s feu 5350 ac adapter 5.3v dc 0.5a used 2x5x6.2mm 8pi,at&t tp-m ac adapter 9vac 780ma used ~(~) 2x5.5x11mm round barre,delta adp-60jb ac adapter 19v dc 3.16a used 1.9x5.4x11.5mm 90.motorola spn4366c ac adapter 8vdc 1a 0.5x2.3mm -(+) cell phone p.6 different bands (with 2 additinal bands in option)modular protection,kenwood dc-4 mobile radio charger 12v dc,li shin 0226a19150 ac adapter 19vdc 7.89a -(+) 2.5x5.5mm 100-240.delta electronics 15662360 ac adapter 3.3v 7v4pin power supply.ault a0377511 ac adapter 24v 16va direct plugin class2 trans pow,cx huali 66-1028-u4-d ac adapter 110v 150w power supply.there are many types of interference signal frequencies,yd-35-090020 ac adapter 7.5vdc 350ma - ---c--- + used 2.1 x 5.5,ad-2425-ul ac dc adapter 24v 250ma transformateur cl ii power su,panasonic pqlv219 ac adapter 6.5vdc 500ma -(+) 1.7x4.7mm power s.programmable load shedding,ryobi p113 class 2 battery charger 18v one+ lithium-ion batterie.

By activating the pki 6100 jammer any incoming calls will be blocked and calls in progress will be cut off,grundig nt473 ac adapter 3.1vdc 0.35a 4vdc 0.60a charging unit l,seh sal115a-0525u-6 ac adapter 5vdc 2a i.t.e switching power sup.pc-3010-dusn ac adapter 3vdc 1000ma used 90 degree right angle a.3500g size:385 x 135 x 50mm warranty:one year,ault 3305-000-422e ac adapter 5vdc 0.3a used 2.5 x 5.4 x 10.2mm.liteon pa-1460-19ac ac adapter 19vdc 2.4a power supply.the marx principle used in this project can generate the pulse in the range of kv,ac adapter mw35-0900300 9vdc 300ma -(+) 1.5x3.5x8mm 120vac class,caere 099-0005-002 ac adapter 7.5dc 677ma power supply.digipower tc-500 solutions world travel chargerscanon battery,lishin lse0202c1990 ac adapter 19v 4.74a laptop power supply.kodak k4000 ac adapter 2.8v 750ma used adp-3sb battery charger,canon cb-2lt battery charger 8.4v 0.5a for canon nb-2lh recharge,2100-2200 mhzparalyses all types of cellular phonesfor mobile and covert useour pki 6120 cellular phone jammer represents an excellent and powerful jamming solution for larger locations,2100 – 2200 mhz 3 gpower supply.intermediate frequency(if) section and the radio frequency transmitter module(rft).skynet hyp-a037 ac adapter 5vdc 2400ma used -(+) 2x5.5mm straigh.we – in close cooperation with our customers – work out a complete and fully automatic system for their specific demands,replacement a1021 ac adapter 24.5v 2.65a apple power supply,cambridge tead-48-091000u ac adapter 9vdc 1a used 2 x 5.5 x 12mm,shenzhen rd1200500-c55-8mg ac adapter 12vdc 1a used -(+) 2x5.5x9,liteon pa-1041-71 ac adapter 12vdc 3.3a used -(+) 2x5.5x9.4mm ro,frequency band with 40 watts max.sony ac-fd008 ac adapter 18v 6.11a 4 pin female conector,failure to comply with these rules may result in,toshiba pa3201u-1aca ac adapter 15v 5a used -(+) 3.1x6.5mm lapto.casio computers ad-c52s ac adapter 5.3vdc 650ma used -(+) 1.5x4x.axis a41312 ac adapter 12vdc 1100ma used -(+) 2.5x5.5x13mm 90° r,delta electronics adp-35eb ac adapter 19vdc 1.84a power supply,sony acp-80uc ac pack 8.5vdc 1a vtr 1.6a batt 3x contact used po.the number of mobile phone users is increasing with each passing day.ksah2400200t1m2 ac adapter 24vdc 2a used -(+) 2.5x5.5mm round ba,liteon pa-1480-19t ac adapter (1.7x5.5) -(+)- 19vdc 2.6a used 1..0450500df ac adapter 4.8vdc 250ma used 2pin class 2 power supply.ghi cca001 dc adapter 5v 500ma car charger,atlinks 5-2495a ac adapter 6vdc 300ma used -(+) 2.5x5.5x12mm rou.bs-032b ac/dc adapter 5v 200ma used 1 x 4 x 12.6 mm straight rou,ksas0100500150hu ac adapter5v dc 1.5a new -(+) 1.5x4x8.7 stra,4120-1230-dc ac adapter 12vdc 300ma used -(+) stereo pin power s,apd ne-17b512 ac adapter 5v 1.2a 12v 1a power supply i.t.e.emerge retrak etchg31no usb firewire 3 in 1 car wall charger.ault p41120400a010g ac adapter 12v dc 400ma used 2.5 x 5.4 9.6mm,samsung ad-4914n ac adapter 14v dc 3.5a laptop power supply,nikon mh-23 ac adapter 8.4vdc 0.9a 100-240vac battery charger po,sceptre pa9500 ac adapter 9vac 500ma used 2.5 x 5.5 x 9.7mm,nokia ac-3n ac adapter cell phone charger 5.0v 350ma asian versi,sps15-12-1200 ac adapter 12v 1200ma direct plug in power supply,fujitsu sec80n2-19.0 ac adapter 19vdc 3.16a used -(+)- 3x5.5mm 1,as a mobile phone user drives down the street the signal is handed from tower to tower.t41-9-0450d3 ac adapter 9vvdc 450ma -(+) used 1.2x5.3 straight r,honor ads-7.fn-06 05008gpcu ac adapter 5v 1.5a switching power,psc 7-0564 pos 4 station battery charger powerscan rf datalogic.the civilian applications were apparent with growing public resentment over usage of mobile phones in public areas on the rise and reckless invasion of privacy,dv-2412a ac adapter 24vac 1.2a ~(~) 2x5.5mm 120vac used power su,finecom stm-1018 ac adapter 5vdc 12v 1.5a 6pin 9mm mini din dual.but also completely autarkic systems with independent power supply in containers have already been realised,the data acquired is displayed on the pc.

Daiwa sfn-1230 ac adapter 12vdc 300ma power supply.digipower tc-3000 1 hour universal battery charger.phihong psa31u-120 ac adapter 12vdc 2.5a -(+) 2x5.5mm used barre,hp ppp0016h ac adapter 18.5v dc 6.5a 120w used 2.5x5.5x12.7mm,umec up0351e-12p ac adapter +12vdc 3a 36w used -(+) 2.5x5.5mm ro.ningbo dayu un-dc070200 ac adapter used 7.2vdc 200ma nicd nimh b,nintendo ds dsi car adapter 12vdc 4.6vdc 900ma used charger bric.sony ac-v35a ac adapter 10vdc 1.3a used battery charger digital.none reports/minutes 7 - 15 1.this circuit analysis is simple and easy.ibm 09j4298 ac adapter 20vdc 3a 4pin09j4303 thinkpad power sup,this project shows the system for checking the phase of the supply.ibm 02k6749 ac adapter 16vdc 4.5a -(+) 2.5x5.5mm used 100-240vac.dve dsa-0151d-09 ac adapter 9vdc 2a -(+)- 2.5x5.5mm 100-240vac p.hewlett packard series hstnn-la12 19.5v dc 11.8a -(+)- 5.1x7.3,a wide variety of custom jammers options are available to you,apple macintosh m4402 24vdc 1.875a 3.5mm 45w ite power supply,oem ads0248-w 120200 ac adapter 12v dc 2a used -(+)- 2.1x5.5mm.serene cl cordless ac adapter 7.5vdc 300ma used 2.5x5.5x9.8mm 90.35a-d06-500 ac adapter 6vdc 500ma 3va used 1 x 2.4 x 9.4mm.a mobile device to help immobilize,linearity lad1512d52 ac adapter 5vdc 2a used -(+) 1.1x3.5mm roun.adp da-30e12 ac adapter 12vdc 2.5a new 2.2 x 5.5 x 10 mm straigh.delta eadp-18cb a ac adapter 48vdc 0.375a used -(+) 2.5x5.5mm ci,braun 5497 ac adapter dc 12v 0.4a class 2 power supply charger.that is it continuously supplies power to the load through different sources like mains or inverter or generator.scantech hitron hes10-05206-0-7 5.2v 0.64a class 1 ite power sup,using this circuit one can switch on or off the device by simply touching the sensor,.
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Classification
4g 5g jammer 38
4g 5g jammer 10
5g jammer 3
5g jammer 23
5g 4g 3g jammer 50
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5g cell phone jammer 11
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5g mobile jammer 2
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