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Robust Lane Detection and Tracking With Ransac and Kalman Filter
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: 2009 16TH IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING, VOLS 1-6, 2009, 3225-3228 p.Conference paper, Published paper (Refereed)
Abstract [en]

In a previous paper, a simple approach to lane detection using the Hough transform and iterated matched filters was described [1]. This paper extends this work by incorporating an inverse perspective mapping to create a bird's-eye view of the road, applying random sample consensus to help eliminate outliers due to noise and artifacts in the road, and a Kalman filter to help smooth the output of the lane tracker.

Place, publisher, year, edition, pages
2009. 3225-3228 p.
Keyword [en]
Lane detection, Hough transform, Kalman filter
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-63777DOI: 10.1109/ICIP.2009.5413980ISI: 000280464301263Scopus ID: 2-s2.0-77951947151OAI: oai:DiVA.org:kth-63777DiVA: diva2:482500
Conference
16th IEEE International Conference on Image Processing. Cairo, EGYPT. NOV 07-10, 2009
Note
QC 20120220Available from: 2012-01-24 Created: 2012-01-24 Last updated: 2012-02-20Bibliographically approved

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