Lane departure estimation by side fisheye camera

In this paper we propose a method of lane departure estimation by a fisheye camera mounted on the side of the vehicle, called a side fisheye camera. The side fisheye camera with hemispherical field of view can observe the side boundary of the vehicle and the lane markings existing at the side simultaneously. The algorithm of estimating the distance and the relative orientation between the vehicle and the nearest lane marking is proposed. The experimental results are presented to show the effectiveness of the proposed method.