Title :
Stochastic road shape estimation
Author :
Southall, B. ; Taylor, C.J.
Author_Institution :
GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
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;
Conference_Titel :
Computer Vision, 2001. ICCV 2001. Proceedings. Eighth IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7695-1143-0
DOI :
10.1109/ICCV.2001.937519
