• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.769-772
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• 2000

In this paper, a new lateral offset estimation method, based on image processing techniques, is proposed for driver assistant system. A new description on lane markings in the image plane is presented, and its properties are discussed and used to detect lane markings. Multi-frame lane detection and analysis are adopted to improve the proposed lateral control method. An algorithm for obstacle detection is also developed. Experimental results show that the proposed method performs lateral control effectively.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.19-25
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• 2005

This paper presents a lateral control system for the autonomous navigation vehicle that was developed and tested by Robotics Centre of Ecole des Mines do Paris in France. A robust lane detection algorithm was developed for detecting different types of lane marker in the images taken by a CCD camera mounted on the vehicle. $^{RT}Maps$ that is a software framework far developing vision and data fusion applications, especially in a car was used for implementing lane detection and lateral control. The lateral control has been tested on the urban road in Paris and the demonstration has been shown to the public during IEEE Intelligent Vehicle Symposium 2002. Over 100 people experienced the automatic lateral control. The demo vehicle could run at a speed of 130km1h in the straight road and 50km/h in high curvature road stably.

• Journal of IKEEE
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• v.16 no.4
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• pp.349-355
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• 2012

Information technology improves convenience, safety, and performance of automobiles. Recently, a lot of algorithms are studied to provide safety and environment information for driving, and lane detection algorithm is one of them. In this paper, we propose a lane detection algorithm that reduces the amount of calculation by reducing region of interest (ROI) after preprocessing. The proposed algorithm reduces the area of ROI a lot by determining the candidate regions near lane boundaries as V-ROI so that the amount of calculation is reduced. In addition, the amount of calculation can be maintained almost the same regardless of the resolutions of the input images by compressing the images since the lane detection algorithm does not require high resolution. The proposed algorithm is implemented using C++ and OpenCV library and is verified to work at 30 fps for realtime operation.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.1
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• pp.93-103
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• 1999

To detect obstacles and lane-markers for driving vehicles, a new moving window scheme where moving windows are assigned to an image frame captured by a camera is addressed. For the detection of obstacles, it is important to estimate lane-markers precisely and rapidly. For this purpose, selecting some partes of an image frame at the expected lane locations, i.e., selecting window are generally adopted for extracting lane-markers efficiently. In this paper, a new scheme that extracts lane-markers precisely by assigning variable size windows at the expected locations of lane-markers considering the road curvature and finally detects obstacles within a driving lane is proposed. The accuracy improvement using this moving window scheme is showed by comparing to the conventional fixed window method and to using radar to laser sensors.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.403-403
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• 2000

Generally estimation of driving direction uses the way which uses lane detection and vanishing point in autonomous-driving system. Especially we use Sub-window for decreasing Process time when we detect lane, but fixed sub-window can not detect lane because of some factors in road image. So we suggest algorithm using one-dimension line scan method to detect an exact position of lane.

• The KIPS Transactions:PartB
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• v.8B no.6
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• pp.705-717
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• 2001

In this paper, we propose a rapid lane detection method to extract a preceding vehicle from sequential images captured by a single monocular CCD camera. We detect positions of lanes for an individual image within the limited area that would not be hidden and thereby compute the slopes of the detected lanes. Then we find a search area where vehicles would exist and extract the position of the preceding vehicle within the area with edge component by applying a structured method. To verify the effects of the proposed method, we capture the road images with a notebook PC and a CCD camera for PC and present the results such as processing time for lane detection, accuracy and vehicles detection against the images.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.182-188
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• 2011

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.226-231
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• 1998

This paper describes how a priori road geometry and its estimation may be used to detect road boundaries and lane markings in road scene images. We assume flat road and road boundaries and lane markings are all Bertrand curves which have common principal normal vectors. An active contour is used for the detection of road boundary, and we reconstruct its geometric property and make use of it to detect lane markings. Our approach to detect road boundary is based on minimizing energy function including edge related term and geometric constraint term. Lane position is estimated by pixel intensity statistics along the parallel curve shifted properly from boundary of the road. We will show the validity of our algorithm by processing real road images.

• Journal of the Korea Society of Computer and Information
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• v.24 no.11
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• pp.29-39
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• 2019

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.4
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• pp.180-189
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• 2009

Currently, most automobile companies are interested in research on intelligent autonomous vehicle. They are mainly focused on driver's intelligent assistant and driver replacement. In order to develop an autonomous vehicle, lateral and longitudinal control is necessary. This paper presents a lateral and longitudinal control system for autonomous vehicle that has only mono-vision camera. For lane detection, we present a new lane detection algorithm using clothoid parabolic road model. The proposed algorithm in compared with three other methods such as virtual line method, gradient method and hough transform method, in terms of lane detection ratio. For adaptive control, we apply a vanishing point estimation to fuzzy control. In order to improve handling and stability of the vehicle, the modeling errors between steering angle and predicted vanishing point are controlled to be minimized. So, we established a fuzzy rule of membership functions of inputs (vanishing point and differential vanishing point) and output (steering angle). For simulation, we developed 1/8 size robot (equipped with mono-vision system) of the actual vehicle and tested it in the athletics track of 400 meter. Through the test, we prove that our proposed method outperforms 98 % in terms of detection rate in normal condition. Compared with virtual line method, gradient method and hough transform method, our method also has good performance in the case of clear, fog and rain weather.