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http://dx.doi.org/10.6109/jkiice.2013.17.11.2492

A Lane Tracking Algorithm Using IPM and Kalman Filter  

Yeo, Jae-Yun (Department of Electrical and Computer Engineering, Pusan National University)
Koo, Kyung-Mo (Department of Electrical and Computer Engineering, Pusan National University)
Cha, Eui-Young (Department of Electrical and Computer Engineering, Pusan National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.17, no.11, 2013 , pp. 2492-2498 More about this Journal
Abstract
In this paper, A lane tracking algoritm is proposed for lane departure warning system. To eliminate perspective effect, input image is converted into Bird's View by inverse perspective mapping. Next, suitable features are extracted for lane detection. Using clustering and lane similarity function with noise suppression features are extracted. Finally, lane model is calculated using RANSAC and lane model is tracked using Kalman Filter. Experimental results show that the proposed algorithm can be processed within 20ms and its detection rate approximately 90% on the highway in a variety of environments.
Keywords
Lane Detection; Lane Tracking; Inverse Perspective Mapping; RANSAC; Kalman Filter;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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