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Lane and Curvature Detection Algorithm based on the Curve Template Matching Method using Top View Image  

Han, Sung-Ji (Department of Electrical Engineering, Soongsil University)
Han, Young-Joon (Department of Electrical Engineering, Soongsil University)
Hahn, Hern-Soo (Department of Electrical Engineering, Soongsil University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SP / v.47, no.6, 2010 , pp. 97-106 More about this Journal
Abstract
In this paper, lane and curvature detection algorithm based on the curve template matching method is proposed. To eliminate the perspective effect of the original image, the input image is transformed to a top view image. From this top view image, its edge image is created. To increase the accuracy of detection, a novel edge detection method, which shows a strength in lane detection, is proposed. In the first step, straight lanes are detected from the edge image, and then the Curve Template Matching(CTM) method is applied to detect the curved lanes and to find their curvatures. Since the proposed CTM method uses only the simple equations, such as line and circle equations, to detect the curved lane, the algorithm is simple. Moreover, we used the detected lane information in the previous frames to detect the current frame's lanes, the detection results become more reliable. The proposed algorithm has been tested in various road conditions (highway, urban street, night time highway, etc.). Experimental results show that the proposed algorithm can process about 70 frames per second with the successful lane detection rate over 95% and curvature detection rate about 90%.
Keywords
Lane Detection; Curvature Detection; Curve Template Matching Method;
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Times Cited By KSCI : 3  (Citation Analysis)
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