Inverse Perspective Mapping based road curvature estimation

This paper proposes a solution for road curvature estimation. This information is relevant for the task of autonomous navigation. The proposed method is based on the Inverse Perspective Mapping (IPM) which gets rid of perspective distortion. From the IPM with multi scale lane markers appear as the parallel lines. Then, the lane markers are detected by using color segmentation, Hough transform and RANSAC. The detected lines are used for calculating the road curvature which is used to estimate a vehicle trajectory for autonomous vehicle or driver assistance system. In the current experiments, the correct detection rate reached 88.45%.