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Volume: 33 | Article ID: art00014
RoadEdgeNet: Road Edge Detection System Using Surround View Camera Images
  DOI :  10.2352/ISSN.2470-1173.2021.17.AVM-210  Published OnlineJanuary 2021

Road Edge is defined as the borderline where there is a change from the road surface to the non-road surface. Most of the currently existing solutions for Road Edge Detection use only a single front camera to capture the input image; hence, the system’s performance and robustness suffer. Our efficient CNN trained on a very diverse dataset yields more than 98% semantic segmentation for the road surface, which is then used to obtain road edge segments for individual camera images. Afterward, the multi-cameras raw road edges are transformed into world coordinates, and RANSAC curve fitting is used to get the final road edges on both sides of the vehicle for driving assistance. The process of road edge extraction is also very computationally efficient as we can use the same generic road segmentation output, which is computed along with other semantic segmentation for driving assistance and autonomous driving. RoadEdgeNet algorithm is designed for automated driving in series production, and we discuss the various challenges and limitations of the current algorithm.

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Ashok Dahal, Eric Golab, Rajender Garlapati, Varun Ravi Kumar, Senthil Yogamani, "RoadEdgeNet: Road Edge Detection System Using Surround View Camera Imagesin Proc. IS&T Int’l. Symp. on Electronic Imaging: Autonomous Vehicles and Machines,  2021,  pp 210-1 - 210-8,

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