Lane detection and kalman-based linear-parabolic lane tracking

King Hann Lim, Kah Phooi Seng, Li Minn Ang, Siew Wen Chin

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

50 Citations (Scopus)

Abstract

This paper presents a lane detection and linear-parabolic lane tracking system using kalman filtering method. First, the image horizon is detected in a traffic scene to split the sky and road region. Road region is further analyzed with entropy method to remove the road pixels. Lane boundaries are then extracted from the region using lane markings detection. These detected boundaries are tracked in consecutive video frames with a linear-parabolic tracking model. The model parameters are updated with Kalman filtering method. Error-checking is performed iteratively to ensure the performance of the lane estimation model. Simulation results demonstrate good performance of the proposed Kalman-based linear-parabolic lane tracking system with fine parameters update.

Original languageEnglish
Title of host publication2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009
Pages351-354
Number of pages4
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009 - Hangzhou, Zhejiang, China
Duration: 26 Aug 200927 Aug 2009

Publication series

Name2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009
Volume2

Conference

Conference2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009
Country/TerritoryChina
CityHangzhou, Zhejiang
Period26/08/0927/08/09

Keywords

  • Driver assistance system
  • Intelligent vehicle
  • Lane detection
  • Lane tracking

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