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http://dx.doi.org/10.7840/kics.2014.39A.6.322

Lane Detection on Non-flat Road Using Piecewise Linear Model  

Jeong, Min-Young (Sogang University Department of Electronic Engineering)
Kim, Gyeonghwan (Sogang University Department of Electronic Engineering)
Publication Information
The Journal of Korean Institute of Communications and Information Sciences / v.39A, no.6, 2014 , pp. 322-332 More about this Journal
Abstract
This paper proposes a robust lane detection algorithm for non-flat roads by combining a piecewise linear model and dynamic programming. Compared with other lane models, the piecewise linear model can represent 3D shapes of roads from the scenes acquired by monocular camera since it can form a curved surface through a set of planar road. To represent the real road, the planar roads are created by various angles and positions at each section. And dynamic programming determines an optimal combination of planar roads based on lane properties. Experiment results demonstrate the robustness of proposed algorithm against non-flat road, curved road, and camera vibration.
Keywords
Lane detection; non-flat road; camera vibration; dynamic programming; piecewise-linear;
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Times Cited By KSCI : 4  (Citation Analysis)
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