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

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

    Research output: Book chapter/Published conference paperConference paperpeer-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 languageEnglish
    Title of host publication2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009
    Pages364-367
    Number of pages4
    Volume2
    DOIs
    Publication statusPublished - 01 Dec 2009
    Event2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009 - Hangzhou, Zhejiang, China
    Duration: 26 Aug 200927 Aug 2009

    Conference

    Conference2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009
    Country/TerritoryChina
    CityHangzhou, Zhejiang
    Period26/08/0927/08/09

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