Concept on landmark detection in road scene images taken from a top-view camera system

In this paper, we demonstrate the inclusion of a top-view camera system mounted on a city bus in an existing sensor setup. A novel sensor setup with five down-facing cameras is mounted on the roof of a MAN Lion's City 12 city bus to extract landmarks in road scene images. Its positioning is validated by an exemplary detection of lane markings. The concept for further landmark detection with the help of the presented camera system is explained in this paper and sensor data fusion methods are proposed. Based on our previous findings (Albrecht et al., 2019), strengths of the novel sensor system are introduced to improve the current environment perception system. For now, only a qualitative observation of the capability to detect lane markings and other landmarks can be presented. Future work will use the current findings for landmark detection for a vehicle self-localization system.