On-road position estimation by probabilistic integration of visual cues

This paper addresses the problem of finding the host vehicle´s lateral position on a multi-lane road, using information obtained by processing video sequences. A very important cue for lane identification is the class of the boundaries of the current lane. This paper presents a reliable solution for lane boundary type identification, based on frequency analysis of the gray level profile of these boundaries, assuming that the current lane is already detected. The lane boundary information is combined with the obstacle information, through a Bayesian Network which will output, frame by frame, the probability of the vehicle to be positioned on each lane of the road. The probability result will be propagated throughout the sequence by a Particle Filter.