Title :
Robust lane detection and tracking with ransac and Kalman filter
Author :
Borkar, Amol ; Hayes, Monson ; Smith, Mark T.
Author_Institution :
Center for Signal & Image Process. (CSIP), Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
In a previous paper, a simple approach to lane detection using the Hough transform and iterated matched filters was described. 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.
Keywords :
Hough transforms; Kalman filters; automated highways; matched filters; object detection; Hough transform; Kalman filter; Ransac filter; iterated matched filters; lane tracker; robust lane detection; Cameras; Collision avoidance; Consumer electronics; Driver circuits; Image edge detection; Image processing; Matched filters; Road safety; Road transportation; Robustness; Hough transform; Kalman filter; Lane detection;
Conference_Titel :
Image Processing (ICIP), 2009 16th IEEE International Conference on
Conference_Location :
Cairo
Print_ISBN :
978-1-4244-5653-6
Electronic_ISBN :
1522-4880
DOI :
10.1109/ICIP.2009.5413980
