A novel lane detection based on geometrical model and Gabor filter

Abstract

Many people die each year in the world in single vehicle roadway departure crashes caused by driver inattention, especially on the freeway. Lane Departure Warning System (LDWS) is a useful system to avoid those accident, in which, the lane detection is a key issue. In this paper, after a brief overview of existing methods, we present a robust lane detection algorithm based on geometrical model and Gabor filter. This algorithm is based on two assumptions: the road in front of vehicle is approximately planar and marked which are often correct on the highway and freeway where most lane departure accidents happen [1]. The lane geometrical model we build in this paper contains four parameters which are starting position, lane original orientation, lane width and lane curvature. The algorithm is composed of three stages: the first stage is called off-line calibration which just runs once after the camera is mounted and fixed in the vehicle. The parameters of camera used for lane detection is accurately estimated by the 2D calibration method [2]; The second stage is called lane model parameters estimation and lane model candidates construction, the first three parameters, starting position, lane original orientation and lane width will be estimated using dominant orientation estimation [3] and local Hough transform. Then the construction of lane model candidates is implemented for the final lane model matching; the third stage is model matching. The proposed lane module matching algorithm is implemented to match the best fitted lane model. The combination of these modules can overcome the universal lane detection problems due to inaccuracies in edge detection such as shadow of tree and passengers on the road. Experimental results on real road will be presented to prove the effectiveness of the proposed lane detection algorithm.

Real-time lane departure warning system based on a single FPGA

“…Numerous line detection algorithms and techniques have recently been proposed [7][8][9][10][11][12]. Among these algorithms, the Hough transform is one of the most robust and extensively used [13][14][15][16][17].The Hough transform is implemented according to (1):…”

Hybrid Map-Based Navigation Method for Unmanned Ground Vehicle in Urban Scenario

“…In the SC area, our previous works can get enough information, including detections of lane markings [22], traffic lights [23] and signs [24], to provide the direction and the speed limit for the UGV. Because the GPS signal only provides global path information, the GPS receiver used in our UGV can be just an ordinary one with low positioning accuracy.…”

Review of Lane Detection and Tracking Algorithms in Advanced Driver Assistance System

“…There are two methods for lane detection; feature based approach and model based approach. The feature based approach use low level features such as edges [1] [28] [14] whereas model based approach use geometric parameters [12][17] [26] for detecting lanes. Figure 1 represents a block diagram of Lane Departure Warning System in a general perspective.…”