Self-Calibrated Multiple-Lane Detection System

We presented a multiple-lane detection system in this paper. To cope with both straight and curved road, the system recognized the road type based on the vehicle's GPS position and digital map data, and designated different schemes for detection. Unlike the known systems that have treated lane marking as a single entity, this system focused on the inner edge of the stripe to locate a vehicle in a lane accurately. The camera's installation parameters, especially the pitch angle, were estimated using the real-time detection results to compensate for changes in the vehicle's pose. Using an "estimate-detect" style, adjacent-lane markings were detected even when they were partly blocked by other vehicles.