Stochastic road shape estimation

Author

Southall, B. ; Taylor, C.J.

Author_Institution

GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA

Volume

1

fYear

2001

fDate

2001

Firstpage

205

Abstract

We describe a new system for estimating road shape ahead of a vehicle for the purpose of driver assistance. The method utilises a single on board colour camera, together with inertial and velocity information, to estimate both the position of the host car with respect to the lane it is following and also the width and curvature of the lane ahead at distances of up to 80 metres. The system´s image processing extracts a variety of different styles of lane markings from road imagery, and is able to compensate for a range of lighting conditions. Road shape and car position are estimated using a particle filter. The system, which runs at 10.5 frames per second, has been applied with some success to several hours´ worth of data captured from highways under varying imaging conditions

Keywords

feature extraction; traffic engineering computing; driver assistance; image processing; lane markings; on board colour camera; road imagery; road shape estimation; Cameras; Data mining; Radar detection; Radar imaging; Radar tracking; Road transportation; Road vehicles; Shape; Stochastic processes; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision, 2001. ICCV 2001. Proceedings. Eighth IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7695-1143-0

Type

conf

DOI

10.1109/ICCV.2001.937519

Filename

937519