Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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The Detection of the Lane Curve using the Lane Model on the Image Coordinate Systems

이미지 좌표계상의 차선 모델을 이용한 차선 휨 검출

  • Published : 2003.01.01
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Abstract

This paper proposes a novel algorithm to recognize the curve of a structured road. The proposed algorithm uses an LCF (Lane Curve Function) obtained by the transformation of a parabolic function defined on world coordinate into image coordinate. Unlike other existing methods, the algorithm needs no transformation between world coordinate and image coordinate owing to the LCF. In order to search for an LCF describing the lane best, the differential comparison between the slope of an assumed LCF and the phase angle of edge pixels in the LROI (Lane Region Of Interest) constructed by the LCF is implemented. As finding the true LCF, the lane curve is determined. The proposed method is proved to be efficient through various kinds of images, providing the reliable curve direction and the valid curvature compared to the real road.

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References

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