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http://dx.doi.org/10.3795/KSME-A.2004.28.3.230

A Study on Lane Sensing System Using Stereo Vision Sensors  

Huh, Kun-Soo (한양대학교 기계공학부)
Park, Jae-Sik (다이모스㈜ 기술연구소)
Rhee, Kwang-Woon (㈜우영 생산기술센터)
Park, Jae-Hak (한양대학교 대학원 정밀기계공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.28, no.3, 2004 , pp. 230-237 More about this Journal
Abstract
Lane Sensing techniques based on vision sensors are regarded promising because they require little infrastructure on the highway except clear lane markers. However, they require more intelligent processing algorithms in vehicles to generate the previewed roadway from the vision images. In this paper, a lane sensing algorithm using vision sensors is developed to improve the sensing robustness. The parallel stereo-camera is utilized to regenerate the 3-dimensional road geometry. The lane geometry models are derived such that their parameters represent the road curvature, lateral offset and heading angle, respectively. The parameters of the lane geometry models are estimated by the Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from the image plane to the global coordinate considers roll and pitch motions of a vehicle so that the mapping error is minimized during acceleration, braking or steering. The proposed sensing system has been built and implemented on a 1/10-scale model car.
Keywords
Lane Sensing; Robustness; Kalman Filter; Stereo Vision Sensor; Inverse Perspective Mapping;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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