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http://dx.doi.org/10.3745/KTSDE.2014.3.7.277

A Curve Lane Detection Method using Lane Variation Vector and Cardinal Spline  

Heo, Hwan (가천대학교 전자계산학과)
Han, Gi-Tae (가천대학교 컴퓨터미디어융합학과)
Publication Information
KIPS Transactions on Software and Data Engineering / v.3, no.7, 2014 , pp. 277-284 More about this Journal
Abstract
The detection method of curves for the lanes which is powerful for the variation by utilizing the lane variation vector and cardinal spline on the inverse perspective transformation screen images which do not required the camera parameters are suggested in this paper. This method detects the lane area by setting the expected lane area in the s frame and next s+1 frame where the inverse perspective transformation and entire process of the lane filter are adapted, and expects the points of lane location in the next frames with the lane variation vector calculation from the detected lane areas. The scan area is set from the nextly expected lane position and new lane positions are detected within these areas, and the lane variation vectors are renewed with the detected lane position and the lanes are detected with application of cardinal spline for the control points inside the lane areas. The suggested method is a powerful method for curved lane detection, but it was adopted to the linear lanes too. It showed an excellent lane detection speed of about 20ms in processing a frame.
Keywords
Computer Vision; Curve Lane Detection; Inverse Perspective Transform; Cardinal Spline;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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