lidar_lane_detector is an open source ROS package for detecting road lines from raw 3D-LiDAR Sensor data.

• Extracting drivable area by using azimuth and channel.

• Distinguish lines from road markings.

• Detecting not only nearest lines but also other lines.

lidar_lane_detector consists of only one node.

• lidar_lane_detector_node

lidar_lane_detector requires following arguments.

• pcl_ros
• pcl_conversions
• Parsing raw 3D-LiDAR data by azimuth and channel (using OS1-64 LiDAR Sensor as default in this package)
  • If you are using Velodyne LiDAR Sensor, you can parsing raw 3D-LiDAR data by including lidar_lane_detector/include/lidar_lane_detector/point_xyzir.h and editing some code lines.

• Subscribed Topics
  • /points (sensor_msgs/PointCloud2)
• Published Topics
  • /filtered_points (sensor_msgs/PointCloud2)
    • Point cloud data representing drivable area.
  • /road_line (visualization_msgs/Marker)

• channel_thresholds
  • Range of interesting channel.
• angle_thresholds
  • Thresholds for classifying ground and non-ground obstacles.
• intensity_thresholds
  • Thresholds for classifying asphalt and road markings, lines.
• lane_candidate
  • Number of lanes.
• lane_width
  • Width of each lane in meter
• x_std_dev_threshold
• y_std_dev_threshold

• Jiyoung Jung, Sung-Ho Bae, Real-Time Road Lane Detection in Urban Areas Using LiDAR Data, Electronics, 2018 [link]