Lane positioning in highways based on road-sign tracking using Kalman filter

This paper proposes a localization of a vehicle on highway in the cross-sectional direction for the purpose of recognizing the driving lane. By tracking road signs over the highway, the relative position between the vehicle and the sign is calculated and the absolute position is obtained based on the a priori known information of the road sign as traffic regulations for installation. The proposed method uses Kalman filter for road sign tracking, analyzes the motion using the pinhole camera model, and classifies the type of the road sign using ORB (Oriented fast and Rotated BRIEF) features. Then, the driving lane is recognized from the relative position of the vehicle with the road sign. The experiments performed on videos acquired from real-world highway driving demonstrate that the proposed method is capable of compensating the limit of GPS positioning.