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http://dx.doi.org/10.5573/ieek.2013.50.1.215

B-snake Based Lane Detection with Feature Merging and Extrinsic Camera Parameter Estimation  

Ha, Sangheon (Dept. of Electronic Engineering, Sogang University)
Kim, Gyeonghwan (Dept. of Electronic Engineering, Sogang University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.50, no.1, 2013 , pp. 215-224 More about this Journal
Abstract
This paper proposes a robust lane detection algorithm for bumpy or slope changing roads by estimating extrinsic camera parameters, which represent the pose of the camera mounted on the car. The proposed algorithm assumes that two lanes are parallel with the predefined width. The lane detection and the extrinsic camera parameter estimation are performed simultaneously by utilizing B-snake in motion compensated and merged feature map with consecutive sequences. The experimental results show the robustness of the proposed algorithm in various road environments. Furthermore, the accuracy of extrinsic camera parameter estimation is evaluated by calculating the distance to a preceding car with the estimated parameters and comparing to the radar-measured distance.
Keywords
lane detection; extrinsic camera parameter; B-snake; feature merging;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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