Feature point based highway curl road recognition

This paper introduces a recognition algorithm of highway curl road based on feature point. Firstly, a road model was established and traditional Hough transform was adopt to obtain linear equations of lanes in order to improve the real-time performance and robustness. The curve direction of current lanes was judged with certain criteria, and the feature points in the curvilinear section were extracted and corrected. Finally, the linear and curvilinear section was fitted to realize the ultimate two dimensional rebuilding of the current bent lanes. Experiments proved that both continuous and dashed lanes were recognized accurately with strong robustness.