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Zebra crossings provide guidance and warning to pedestrians and drivers, thereby playing an important role in traffic safety management. Most previous studies have focused on detecting zebra stripes but have not provided full information about the areas, which is critical to both driver assistance systems and guide systems for blind individuals. This paper presents a stepwise procedure for recognizing and reconstructing zebra crossings using mobile laser scanning data. First, we propose adaptive thresholding based on road surface partitioning to reduce the impact of intensity unevenness and improve the accuracy of road marking extraction. Then, dispersion degree filtering is used to reduce the noise. Finally, zebra stripes are recognized according to the rectangular feature and fixed size, which is followed by area reconstruction according to arrangement patterns. We test our method on three datasets captured by an Optech Lynx mobile mapping system. The total recognition rate of 90.91% demonstrates the effectiveness of the method

Recognition and Reconstruction of Zebra Crossings on Roads from Mobile Laser Scanning Data