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Lane Detection and Tracking Using a Layered Approach
Georgia Institute of Technology. (School of Electrical and Computer Engineering)
Georgia Institute of Technology. (School of Electrical and Computer Engineering)
KTH, School of Information and Communication Technology (ICT), Communication Systems, CoS.
2009 (English)In: ADVANCED CONCEPTS FOR INTELLIGENT VISION SYSTEMS, PROCEEDINGS / [ed] BlancTalon, J; Philips, W; Popescu, D; Scheunders, P, 2009, 474-484 p.Conference paper (Refereed)
Abstract [en]

A new night-time lane detection system that extends the idea of a Layered Approach [1] is presented in this document. The extension includes the incorporation of (1) inverse Perspective Mapping (IPM) to generate a bird's-eye view of the road surface, (2) application of Random Sample Consensus (RANSAC) to rid outliers from the data., and (3) Kalman filtering to smooth the output of the lane tracker. Videos of driving scenarios on local city roads and highways were used to test the new system. Quantitative analysis shows higher accuracy in detecting lane markers in comparison to other approaches.

Place, publisher, year, edition, pages
2009. 474-484 p.
, Lecture Notes in Computer Science, ISSN 0302-9743 ; 5807
Keyword [en]
Lane detection, matched filtering, inverse perspective mapping, Hough transform, RANSAC, Kalman filter
National Category
Signal Processing
URN: urn:nbn:se:kth:diva-63775DOI: 10.1007/978-3-642-04697-1_44ISI: 000279102300044ScopusID: 2-s2.0-70649108751ISBN: 978-3-642-04696-4OAI: diva2:482498
11th International Conference on Advanced Concepts for Intelligent Vision Systems. Bordeaux, FRANCE. SEP 28-OCT 02, 2009
QC 20120220Available from: 2012-01-24 Created: 2012-01-24 Last updated: 2012-02-20Bibliographically approved

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Smith, Mark T.
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Communication Systems, CoS
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