Histogram-model based road boundary estimation by using laser scanner

In this paper, we present road boundary estimation based on laser scanner by using histogram model. For raw laser scanner data, we apply histogram model, which means that the histogram of the number of laser point is applied from a center of ego-vehicle. After histogram is made, we estimate the boundary point and select point of road boundary. We estimate selected points to clothoid model and update them by using Kalman filter. Experimental results carried out with laser range data illustrate the robustness of our approach.