ROBUST LANE DETECTION AND TRACKING WITH RANSAC AND KALMAN FILTER

被引：141

作者：

Borkar, Amol ^{[1
]}

Hayes, Monson ^{[1
]}

Smith, Mark T. ^{[2
]}

机构：

[1] Georgia Inst Technol, CSIP, Atlanta, GA 30332 USA

[2] Inst Tillamped Informationstekn, Kungliga Tekniska Hogskolan, Stockholm, Sweden

来源：

2009 16TH IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING, VOLS 1-6 | 2009年

关键词：

Lane detection; Hough transform; Kalman filter;

D O I：

10.1109/ICIP.2009.5413980

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In a previous paper, a simple approach to lane detection using the Hough transform and iterated matched filters was described [1]. This paper extends this work by incorporating an inverse perspective mapping to create a bird's-eye view of the road, applying random sample consensus to help eliminate outliers due to noise and artifacts in the road, and a Kalman filter to help smooth the output of the lane tracker.

引用

页码：3261 / +

页数：2

共 11 条

[1]

[Anonymous], 2001, Robotica, DOI DOI 10.1017/S0263574700223217

[2]

[Anonymous], 2006, Proceedings of the IEEE Intelligent Transportation Systems Conference

[3] Real time lane detection for autonomous vehicles [J].

Assidiq, Abdulhakam A. M. ;

Khalifa, Othman O. ;

Islam, Md. Rafiqul ;

Khan, Sheroz .

2008 INTERNATIONAL CONFERENCE ON COMPUTER AND COMMUNICATION ENGINEERING, VOLS 1-3, 2008, :82-+

[4] GOLD: A parallel real-time stereo vision system for generic obstacle and lane detection [J].

Bertozzi, M ;

Broggi, A .

IEEE TRANSACTIONS ON IMAGE PROCESSING, 1998, 7 (01) :62-81

[5]

BORKAR A, 2009, 2009 IEEE WORKSH COM, P51, DOI DOI 10.1109/CIVVS.2009.4938723

[6]

Chiu KY, 2005, 2005 IEEE INTELLIGENT VEHICLES SYMPOSIUM PROCEEDINGS, P706

[7] RANDOM SAMPLE CONSENSUS - A PARADIGM FOR MODEL-FITTING WITH APPLICATIONS TO IMAGE-ANALYSIS AND AUTOMATED CARTOGRAPHY [J].

FISCHLER, MA ;

BOLLES, RC .

COMMUNICATIONS OF THE ACM, 1981, 24 (06) :381-395

[8] Robust lane detection in urban environments [J].

Sehestedt, Stephan ;

Kodagoda, Sarath ;

Alempijevic, Alen ;

Dissanayake, Gamini .

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, :123-128

[9]

SHU Y, 2004, 5 WORLD C INT CONTR, V6, P5258

[10]

Wang CC, 2005, IEEE INT SYMP CIRC S, P356

← 1 2 →