LiDAR intensity correction for road marking detection

The intensity data recorded by light detection and ranging (LiDAR) contains the spectral characteristics of a scanned target, making it an essential source of information in mobile laser scanning (MLS) related applications. However, the raw intensity can be distorted by distance and incidence angle, obstructing its use in autonomous driving. To correct the intensity distortion, an automatic demarcation selection, based on distance effect function, and a Blinn-Phong model-based angle effect correction, have been proposed to correct the raw intensity, establishing the relationship between intensity correction performance and the influencing factors, including modeling data selection, incidence angle span (IAS) and point cloud density. Separability (SEP) and balanced F score (BFS) were used to evaluate the separability, accuracy and totality of road marking detection. Experimental results showed that the background data-driven angle effect function (BDAF) used was beneficial for enhancing marking and road classification. IAS has a major influence on correcting intensity performance. SEP was improved by 35% when IAS was increased from 3.17 to 13.5, with point density of 535 pt/m2. The IAS threshold could be adjusted according to the instrument performance used. It offers a meaningful investigation of detection and classification of planar target using corrected MLS intensity.