Real-time implementation of vision-based lane detection and tracking

King Hann Lim; Kah Phooi Seng; Anh Cat Le Ngo; Li Minn Ang

doi:10.1109/IHMSC.2009.214

Real-time implementation of vision-based lane detection and tracking

King Hann Lim, Kah Phooi Seng, Anh Cat Le Ngo, Li Minn Ang

University of Nottingham

Research output: Book chapter/Published conference paper › Conference paper › peer-review

14 Citations (Scopus)

Abstract

This paper presents a real-time implementation on lane detection and tracking system in order to localize lane boundaries and estimate a linear-parabolic lane model. It is realized using TMS320DM642 DSP board. Video frame is first captured with CCD camera and stored in video port buffer. Next, input image is split into sky and road region with horizon localization. Lane analysis is applied on the road region to remove road pixels. Only lane markings are the interests for the lane detection process. Once lane boundaries are located, the possible edge pixels are scanned to continuously obtain the lane model. Linear-parabolic model is used to construct the geometry of the lane. The model parameters are updated with Kalman filtering. Video sequences are tested to verify the performance of the system and it has good performance.

Original language	English
Title of host publication	2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009
Pages	364-367
Number of pages	4
Volume	2
DOIs	https://doi.org/10.1109/IHMSC.2009.214
Publication status	Published - 01 Dec 2009
Event	2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009 - Hangzhou, Zhejiang, China Duration: 26 Aug 2009 → 27 Aug 2009

Conference

Conference	2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009
Country/Territory	China
City	Hangzhou, Zhejiang
Period	26/08/09 → 27/08/09

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10.1109/IHMSC.2009.214

Cite this

@inproceedings{f3b06f5578004caabca14ecadb47a412,

title = "Real-time implementation of vision-based lane detection and tracking",

abstract = "This paper presents a real-time implementation on lane detection and tracking system in order to localize lane boundaries and estimate a linear-parabolic lane model. It is realized using TMS320DM642 DSP board. Video frame is first captured with CCD camera and stored in video port buffer. Next, input image is split into sky and road region with horizon localization. Lane analysis is applied on the road region to remove road pixels. Only lane markings are the interests for the lane detection process. Once lane boundaries are located, the possible edge pixels are scanned to continuously obtain the lane model. Linear-parabolic model is used to construct the geometry of the lane. The model parameters are updated with Kalman filtering. Video sequences are tested to verify the performance of the system and it has good performance.",

keywords = "Driver assistance system, Hardware implementation, Intelligent vehicle, Lane detection, Lane tracking",

author = "Lim, {King Hann} and Seng, {Kah Phooi} and {Le Ngo}, {Anh Cat} and Ang, {Li Minn}",

year = "2009",

month = dec,

day = "1",

doi = "10.1109/IHMSC.2009.214",

language = "English",

isbn = "9780769537528",

volume = "2",

pages = "364--367",

booktitle = "2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009",

note = "2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009 ; Conference date: 26-08-2009 Through 27-08-2009",

}

Lim, KH, Seng, KP, Le Ngo, AC & Ang, LM 2009, Real-time implementation of vision-based lane detection and tracking. in 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009. vol. 2, 5335965, pp. 364-367, 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009, Hangzhou, Zhejiang, China, 26/08/09. https://doi.org/10.1109/IHMSC.2009.214

TY - GEN

T1 - Real-time implementation of vision-based lane detection and tracking

AU - Lim, King Hann

AU - Seng, Kah Phooi

AU - Le Ngo, Anh Cat

AU - Ang, Li Minn

PY - 2009/12/1

Y1 - 2009/12/1

N2 - This paper presents a real-time implementation on lane detection and tracking system in order to localize lane boundaries and estimate a linear-parabolic lane model. It is realized using TMS320DM642 DSP board. Video frame is first captured with CCD camera and stored in video port buffer. Next, input image is split into sky and road region with horizon localization. Lane analysis is applied on the road region to remove road pixels. Only lane markings are the interests for the lane detection process. Once lane boundaries are located, the possible edge pixels are scanned to continuously obtain the lane model. Linear-parabolic model is used to construct the geometry of the lane. The model parameters are updated with Kalman filtering. Video sequences are tested to verify the performance of the system and it has good performance.

AB - This paper presents a real-time implementation on lane detection and tracking system in order to localize lane boundaries and estimate a linear-parabolic lane model. It is realized using TMS320DM642 DSP board. Video frame is first captured with CCD camera and stored in video port buffer. Next, input image is split into sky and road region with horizon localization. Lane analysis is applied on the road region to remove road pixels. Only lane markings are the interests for the lane detection process. Once lane boundaries are located, the possible edge pixels are scanned to continuously obtain the lane model. Linear-parabolic model is used to construct the geometry of the lane. The model parameters are updated with Kalman filtering. Video sequences are tested to verify the performance of the system and it has good performance.

KW - Driver assistance system

KW - Hardware implementation

KW - Intelligent vehicle

KW - Lane detection

KW - Lane tracking

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U2 - 10.1109/IHMSC.2009.214

DO - 10.1109/IHMSC.2009.214

M3 - Conference paper

AN - SCOPUS:73649146994

SN - 9780769537528

VL - 2

SP - 364

EP - 367

BT - 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009

T2 - 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009

Y2 - 26 August 2009 through 27 August 2009

ER -

Real-time implementation of vision-based lane detection and tracking

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