Realtime lane tracking of curved local road

A lane detection system is an important component of many intelligent transportation systems. We present a robust realtime lane tracking algorithm for a curved local road. First, we present a comparative study to find a good realtime lane marking classifier. Once lane markings are detected, they are grouped into many lane boundary hypotheses represented by constrained cubic spline curves. We present a robust hypothesis generation algorithm using a particle filtering technique and a RANSAC (random sample concensus) algorithm. We introduce a probabilistic approach to group lane boundary hypotheses into left and right lane boundaries. The proposed grouping approach can be applied to general part-based object tracking problems. It incorporates a likelihood-based object recognition technique into a Markov-style process. An experimental result on local streets shows that the suggested algorithm is very reliable