Real-Time Implementation of Vision-Based Lane Detection and Tracking

Author

Lim, King Hann ; Seng, Kah Phooi ; Le Ngo, Anh Cat ; Ang, Li-Minn

Author_Institution

Sch. of Electr. & Electron. Eng., Univ. of Nottingham Malaysia campus, Semenyih, Malaysia

Volume

2

fYear

2009

fDate

26-27 Aug. 2009

Firstpage

364

Lastpage

367

Abstract

This paper presents a real-time implementation on lane detection and tracking system in order to localize lane boundaries and estimate a linear-parabolic lane model. It is realized using TMS320DM642 DSP board. Video frame is first captured with CCD camera and stored in video port buffer. Next, input image is split into sky and road region with horizon localization. Lane analysis is applied on the road region to remove road pixels. Only lane markings are the interests for the lane detection process. Once lane boundaries are located, the possible edge pixels are scanned to continuously obtain the lane model. Linear-parabolic model is used to construct the geometry of the lane. The model parameters are updated with Kalman filtering. Video sequences are tested to verify the performance of the system and it has good performance.

Keywords

Kalman filters; automated highways; computational geometry; computer vision; digital signal processing chips; driver information systems; edge detection; image sequences; object detection; road vehicles; tracking; video signal processing; CCD camera; Kalman filtering; TMS320DM642 DSP board; driver assistance system; edge pixel scanning; geometry construction; horizon localization; intelligent vehicle; lane analysis; lane boundary localization; lane marking; linear-parabolic lane model; real-time hardware implementation; video frame capture; video port buffer; video sequence; vision-based lane detection; vision-based lane tracking system; Buffer storage; Charge coupled devices; Charge-coupled image sensors; Digital signal processing; Geometry; Image edge detection; Kalman filters; Real time systems; Roads; Solid modeling; Hardware Implementation; Intelligent Vehicle; Lane Detection; Lane Tracking; and Driver Assistance System;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Human-Machine Systems and Cybernetics, 2009. IHMSC '09. International Conference on

Conference_Location

Hangzhou, Zhejiang

Print_ISBN

978-0-7695-3752-8

Type

conf

DOI

10.1109/IHMSC.2009.214

Filename

5335965