On the Design of a Single Lane-Markings Detector Regardless the On-board Camera's Position
Abstract
In this article, we present an algorithm for lane marking features
extraction and robust shape estimation of lane markings. The algorithm
uses a new lane-marking features extractor followed by a robust fitting
algorithm described in [jpt-eccv02] to estimate the lane-markings
shape as a single analytical curve. The lane-marking features extractor is
based on the fact that lane-markings widths are in a small range of possible
values, on a road. This implies a geometric constrain on the observed lane-markings
widths from a camera on-board a vehicle. The lane-marking features extractor uses
this property to select pairs of edge points corresponding with a high probability
to a section of lane-marking. This features extractor is especially designed to be
robust to lighting conditions as shown by few experiments. The extracted features
are then grouped to estimate the parameters of the analytical curve model of these
lane-markings. With the proposed approach, the obtained detector is robust to
different kinds of noise and perturbations, allowing us to use it with a camera
in many positions. Finally, to illustrate this property, we briefly describe two
applications of the proposed detector: accurate vehicle location on the road and
estimation of the time to line crossing.
Reference
@inproceedings{jpt-iv03,
author = {Ieng, S.-S. and Tarel, J.-P. and Labayrade, R.},
title = {On the Design of a Single Lane-Markings Detector Regardless the On-board Camera's Position},
booktitle = {Proceedings of IEEE Intelligent Vehicle Symposium (IV'2003)},
date = {June 9-11},
address = {Colombus, OH, USA},
year = {2003},
pages = {564-569},
note = {http://perso.lcpc.fr/tarel.jean-philippe/publis/iv03.html}
}
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