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The Detection of the Lane Curve using the Lane Model on the Image Coordinate Systems  

박종웅 (한양대학교 대학원)
이준웅 (전남대학교 산업공학과)
장경영 (한양대학교 기계공학부)
정지화 (한양대학교 대학원)
고광철 (한양대학교 전기전자컴퓨터공학부)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.11, no.1, 2003 , pp. 193-200 More about this Journal
Abstract
This paper proposes a novel algorithm to recognize the curve of a structured road. The proposed algorithm uses an LCF (Lane Curve Function) obtained by the transformation of a parabolic function defined on world coordinate into image coordinate. Unlike other existing methods, the algorithm needs no transformation between world coordinate and image coordinate owing to the LCF. In order to search for an LCF describing the lane best, the differential comparison between the slope of an assumed LCF and the phase angle of edge pixels in the LROI (Lane Region Of Interest) constructed by the LCF is implemented. As finding the true LCF, the lane curve is determined. The proposed method is proved to be efficient through various kinds of images, providing the reliable curve direction and the valid curvature compared to the real road.
Keywords
Lane curve function; Image processing; Gradient operators; Lane curvature; Asymptote;
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