An integrated, robust approach to lane marking detection and lane tracking
- 8 November 2004
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Lane Detection is a difficult problem because of the varying road conditions that one can encounter while driving. In this paper we propose a method for lane detection using steerable filters. Steerable filters provide robustness to lighting changes and shadows and perform well in picking out both circular reflector road markings as well as painted line road markings. The filter results are then processed to eliminate outliers based on the expected road geometry and used to update a road and vehicular model along with data taken internally from the vehicle. Results are shown for a 9000-frame image sequence that include varying lane markings, lighting conditions, showing, and occlusion by other vehicles.Keywords
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