Abstract
Particle filtering of boundary points is a robust way to estimate lanes. This paper introduces a new lane model in correspondence to this particle filter-based approach, which is flexible to detect all kinds of lanes. A modified version of an Euclidean distance transform is applied to an edge map of a road image from a birds-eye view to provide information for boundary point detection. An efficient lane tracking method is also discussed. The use of this distance transform exploits useful information in lane detection situations, and greatly facilitates the initialization of the particle filter, as well as lane tracking. Finally, the paper validates the algorithm with experimental evidence for lane detection and tracking.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Bertozzi, M., Broggi, A.: GOLD - A parallel real-time stereo vision system for generic obstacle and lane detection. IEEE Trans. Image Processing 7, 62–81 (1998)
Kim, Z.: Robust lane detection and tracking in challenging scenarios. IEEE Trans. Intelligent Transportation System 9, 16–26 (2008)
Loose, H., Franke, U., Stiller, C.: Kalman particle filter for lane recognition on rural roads. In: Proc. IEEE Intelligent Vehicle Symp. (to appear, 2009)
McCall, J.C., Trivedi, M.M.: Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation. IEEE Trans. Intelligent Transportation System 7, 20–37 (2006)
Sehestedt, S., Kodagoda, S., Alempijevic, A., Dissanayake, G.: Efficient lane detection and tracking in urban environments. In: Proc. European Conf. Mobile Robots, pp. 126–131 (2007)
Wang, Y., Bai, L., Fairhurst, M.: Robust road modeling and tracking using condensation. IEEE Trans. Intelligent Transportation Systems 9, 570–579 (2008)
Wu, T., Ding, X.Q., Wang, S.J., Wang, K.Q.: Video object tracking using improved chamfer matching and condensation particle filter. In: Proc. SPIE-IS & T Electronic Imaging, vol. 6813, pp. 04.1–04.10 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Jiang, R., Klette, R., Vaudrey, T., Wang, S. (2009). New Lane Model and Distance Transform for Lane Detection and Tracking. In: Jiang, X., Petkov, N. (eds) Computer Analysis of Images and Patterns. CAIP 2009. Lecture Notes in Computer Science, vol 5702. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03767-2_127
Download citation
DOI: https://doi.org/10.1007/978-3-642-03767-2_127
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03766-5
Online ISBN: 978-3-642-03767-2
eBook Packages: Computer ScienceComputer Science (R0)