Robust lane detection and tracking for driving assistance systems

Bing-Fei Wu*, Chuan Tsai Lin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations

Abstract

This paper describes a novel approach of detecting lanes. The projective width of lanes can be computed precisely by a method of geometric projection to predict the relative position and features of lane markings. Besides, a camera's accurate tilt angle and the lane width can be acquired by dynamic calibration. Also, an algorithm named Lane Marking Extraction (LME) Finite State Machine (FSM) is proposed to capture the points with features of lane markings and use fuzzy reasoning to discriminate points of the lane markings. Some points are chosen as knots to supplement all of the points on the lane boundary with cubic B-spline interpolation, which reconstructs the area of lanes with a left and a right curve. The proposed approach uses prediction of a lane's projective width and the way of tracking to accelerate lane detections and to describe positions of lane markings on both sides effectively when one side is occluded.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2007
Pages3848-3853
Number of pages6
DOIs
StatePublished - 1 Dec 2007
Event2007 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2007 - Montreal, QC, Canada
Duration: 7 Oct 200710 Oct 2007

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Conference

Conference2007 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2007
CountryCanada
CityMontreal, QC
Period7/10/0710/10/07

Keywords

  • Driving assistance
  • Dynamic callbration
  • Finite state machine
  • Image
  • Lane detection

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  • Cite this

    Wu, B-F., & Lin, C. T. (2007). Robust lane detection and tracking for driving assistance systems. In 2007 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2007 (pp. 3848-3853). [4413636] (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics). https://doi.org/10.1109/ICSMC.2007.4413636