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Hi @santK, when you search, look for lane detection with pcl and you will find more information on what you are looking for. Look at this example of implementation it uses OrganizedMultiPlaneSegmentation to organize the segmentation results and detect lanes that can be published in ROS.

For more info on OrganizedMultiPlaneSegmentation, check this useful documentation

Even though this is a clever way to leverage pcl data, I believe it's too noisy to be accurate and computationally expensive. There are ways to detect lanes, road edges in computer vision that are faster and more accurate. If you have no other choice, it's definitely possible. Now that you have the plane, it's about applying the algorithm for lane detection.

There is an interesting paper, I'd recommend to read on the implementation also using ROS including the limitations with the approach.