Detecting and recognizing centerlines as parabolic sections of the steerable filter response

This paper is concerned with detection and recognition of road surface markings in video acquired from the driver´s perspective. In particular, we focus on centerlines which separate the two road lanes with opposed traffic directions, since they are often the only markings in many urban and suburban roads. The proposed technique is based on detecting parabolic sections of the thresholded steerable filter response in inverse perspective images. The technique has been experimentally evaluated on production videos acquired from moving service vehicles. The obtained results are provided and discussed.