The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Recognition of Lanes, Stop Lines and Speed Bumps using Top-view Images

탑뷰 영상을 이용한 차선, 정지선 및 과속방지턱 인식

  • Ahn, Young-Sun (Dept. of Electronic Engineering, Keimyung University) ;
  • Kwak, Seong Woo (Dept. of Electronic Engineering, Keimyung University) ;
  • Yang, Jung-Min (School of Electronics Engineering, Kyungpook National University)
  • Received : 2016.06.14
  • Accepted : 2016.09.30
  • Published : 2016.11.01
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Abstract

In this paper, we propose a real-time recognition algorithm of lanes, stop lines and speed bumps on roads for autonomous vehicles. First, we generate a top-view using the image transmitted from a camera that is installed to see the front of a vehicle. To speed up the processing, we simplify the mapping algorithm in constructing a top-view wherein the region of interest (ROI) is concerned. The features of lanes, stop lines and speed bumps, which are composed of lines, are searched in the edge image of the top-view, then followed by labeling and clustering specialized to detect straight lines. The width of lines, distances from the center of a vehicle, and curvature of each cluster are considered to select final candidates. We verify the proposed algorithm on real roads using the commercial car (KIA K7) which is converted into an autonomous vehicle.

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References

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