Model-based Curved Lane Detection using Geometric Relation between Camera and Road Plane

Abstract

Abstract:In this paper, we propose a robust curved lane marking detection method. Several lane detection methods have been proposed, however most of them have considered only straight lanes. Compared to the number of straight lane detection researches, less number of curved-lane detection researches has been investigated. This paper proposes a new curved lane detection and tracking method which is robust to various illumination conditions. First, the proposed methods detect straight lanes using a robust road feature image. Using the geometric relation between a vehicle camera and the road plane, several circle models are generated, which are later projected as curved lane models on the camera images. On the top of the detected straight lanes, the curved lane models are superimposed to match with the road feature image. Then, each curve model is voted based on the distribution of road features.

Simple Detection and Classification of Road Lanes based on Image Processing

“…The solutions could be capable to detect lanes based on several possibilities as: surfaces planes [24] or considering elevation models, straight or curved lanes [25], roads or urban environments [26]. Many research bases the lane identification stage on Hough transform, being this the most popular method for detecting and locating straight lines [27].…”