• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.625-631
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• 2010

This paper proposes lane recognition algorithm using lane prominence technique to extract lane candidate. The lane prominence technique is combined with embossing effect, lane thickness check, and lane extraction using mask. The proposed lane recognition algorithm consists of preprocessing, lane candidate extraction and lane recognition. First, preprocessing is executed, which includes gray image acquisition, inverse perspective transform and gaussian blur. Second, lane candidate is extracted by using lane prominence technique. Finally, lane is recognized by using hough transform and least square method. To evaluate the proposed lane recognition algorithm, this algorithm was applied to the detection of lanes in the rainy and night day. The experiment results showed that the proposed algorithm can recognize lane in various environment. It means that the algorithm can be applied to lane recognition to drive unmanned vehicles.