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http://dx.doi.org/10.7746/jkros.2011.6.2.165

Robust Lane Detection Algorithm for Realtime Control of an Autonomous Car  

Han, Myoung-Hee (KAIST 전산학과)
Lee, Keon-Hong (KAIST 로봇학제)
Jo, Sung-Ho (KAIST 전산학과)
Publication Information
The Journal of Korea Robotics Society / v.6, no.2, 2011 , pp. 165-172 More about this Journal
Abstract
This paper presents a robust lane detection algorithm based on RGB color and shape information during autonomous car control in realtime. For realtime control, our algorithm increases its processing speed by employing minimal elements. Our algorithm extracts yellow and white pixels by computing the average and standard deviation values calculated from specific regions, and constructs elements based on the extracted pixels. By clustering elements, our algorithm finds the yellow center and white stop lanes on the road. Our algorithm is insensitive to the environment change and its processing speed is realtime-executable. Experimental results demonstrate the feasibility of our algorithm.
Keywords
Lane Detection; Yellow Center Lane; White Stop Line; RGB; Autonomous; Realtime Control;
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