Improvement of Landmark Detection for Self Position Estimation in Autonomous cars

Abstract

We propose a You Only Look Once (YOLO) based road marking detection method for self- position estimation in autonomous cars. In the proposed method, YOLO pre-processing is added to a conventional detection method, which searches road marking from a whole input image including various background, to restrict the searching area by removing background areas. In the conventional method, it is necessary to set a high detection threshold to prevent false detections. On the other hand, the proposed method can set a lower threshold than the conventional method because the searching area is restricted to road marking areas only. Therefore, several road markings that were previously undetected can be detected. The experimental results show that the proposed method reduces the number of negative detection while keeping the number of false detections at zero. Also, the overall accuracy was improved by 1.3 points.