Lane and obstacle detection based on fast inverse perspective mapping algorithm

Author

Jiang, Gang Yi ; Choi, Tae Young ; Hong, Suk Kyo ; Bae, Jae Wook ; Song, Byung Suk

Author_Institution

Ajou Univ., Suwon, South Korea

Volume

4

fYear

2000

fDate

2000

Firstpage

2969

Abstract

A fast inverse perspective mapping algorithm (FIPMA) is presented for a fast and accurate recovery of road surface from a given 2D road image. FIPMA is able to simplify the system design without losing reliability and flexibility. A novel lane and obstacle detection method, using only a single CCD camera, is proposed based on a recovered road surface image by FIPMA. This method includes five parts: recovering the road surface from the input road image using FIPMA; processing the recovered surface image; detecting lane and estimating lane parameters; updating camera parameters adaptively; and detecting obstacles

Keywords

CCD image sensors; automated highways; computer vision; object detection; road traffic; 2D road image; CCD camera; FIPMA; fast inverse perspective mapping algorithm; lane detection; machine vision; obstacle detection; parameter estimation; road surface; road traffic; road vehicle guidance system; Cameras; Intelligent transportation systems; Navigation; Road safety; Road transportation; Road vehicles; Surface morphology; Vehicle detection; Vehicle driving; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2000 IEEE International Conference on

Conference_Location

Nashville, TN

ISSN

1062-922X

Print_ISBN

0-7803-6583-6

Type

conf

DOI

10.1109/ICSMC.2000.884452

Filename

884452