Development of an Automated Method for Extracting Reflectance Maps of Road Marking Areas by Camera-LiDAR Fusion

A system that can automatically determine where and when the prior knowledge map needs to be updated according to the new observation would be helpful in avoiding poor accuracy and reliability of map matching for self-position estimation. Such a system is also useful for road maintenance and management to identify areas where repainting work is required. Therefore, as a first effort to develop such a system, this paper proposes a lidar-camera fusion framework to extract road marking areas from reflectance maps for quantifying the reflectance of the areas, which can be detected and confirmed using camera images.