Robust Lane Detection Algorithm for Autonomous Trucks in Container Terminals

Abstract

Container terminal automation offers many potential benefits, such as increased productivity, reduced cost, and improved safety. Autonomous trucks can lead to more efficient container transport. A novel lane detection method is proposed using score-based generative modeling through stochastic differential equations for image-to-image translation. Image processing techniques are combined with Density-Based Spatial Clustering of Applications with Noise (DBSCAN) and Genetic Algorithm (GA) to ensure fast and accurate lane positioning. A robust lane detection method can deal with complicated detection problems in realistic road scenarios. The proposed method is validated by a dataset collected from the port terminals under different environmental conditions; in addition, the robustness of the lane detection method with stochastic noise is tested.