Hi Nur,
Extracting the edges of a road from a LiDAR intensity image using edge detection methods like the Canny algorithm is a common task in computer vision. However, isolating the specific edges of a road requires additional processing steps beyond basic edge detection. Here’s a general approach to follow:
Steps to Extract Road Edges
- Preprocess the Image: Enhance the contrast and remove noise if necessary.
- Edge Detection: Apply the Canny edge detector to identify edges.
- Post-process Edges: Use morphological operations like ‘bwareafilt’, etc to clean up the edges.
- Extract Road Edges: Use techniques like the Hough Transform to identify and extract lines that likely correspond to road edges.
- Filter and Select Road Edges: Apply criteria to select the edges that correspond to the road, such as parallelism, length, and position.
Consider using functions like ‘edge’, ‘hough’, ‘houghpeaks’, ‘houghlines’ to perform the same. Refer the following documentation for more information regarding the same:
- Edge: https://www.mathworks.com/help/images/ref/edge.html
- Hough: https://www.mathworks.com/help/images/ref/hough.html
- Houghpeaks: https://www.mathworks.com/help/images/ref/houghpeaks.html
- Houghlines: https://www.mathworks.com/help/images/ref/houghlines.html
Also, you can try generating a RoadRunner scene from recorded Lidar data as given in the following link: https://www.mathworks.com/help/driving/ug/generate-roadrunner-hd-map-from-lidar-data-for-scenario-generation.html
Hope this helps!
