Road-Model-Based Road Boundary Extraction for High Definition Map via LIDAR.

High definition (HD) map has become indispensable to autonomous driving systems, but its automated construction is challenging. Since road boundary lines are basic elements of the map, accurate and complete extraction of the lines is one of key to build HD map. We present a method to automatically extract the boundary lines based on the road model using multi-beam LIDAR. First, the road model based on B-spline surfaces is constructed to fit the ground, and the multiRANSAC is proposed to remove the surface points. Second, horizontal distance feature and strong straight constraint are used to extract the road boundary lines. Finally, the lines collected from multiple frames are fused to approximate the curves and complete the boundary information. In the matter, the proposed method extracts the lines on the curved and straight road accurately and completely. We verified the feasibility and robustness of the proposed method on KITTI dataset. The average precision, recall and F1 are 0.9599, 0.9066 and 0.9277 respectively, and the average runtime is 28 ms/frame. Results show that the comprehensive performance of the proposed method outperforms the compared approaches.