Monocular vision-based lane detection using segmented regions from edge information

For autonomous navigation of a mobile robot in outdoor environments, the information on the lane markers on the road is useful for localization, path planning, and other navigation techniques of a mobile robot. To detect the lane markers, this paper proposes the segmentation based on the Canny edge and the inverse perspective mapping (IPM). The experimental results show that the proposed scheme successfully works in real outdoor environments.