Lane detection and kalman-based linear-parabolic lane tracking
MetadataShow full item record
This paper presents a lane detection and linear-parabolic lane tracking system using kalman filtering method. First, the image horizon is detected in a traffic scene to split the sky and road region. Road region is further analyzed with entropy method to remove the road pixels. Lane boundaries are then extracted from the region using lane markings detection. These detected boundaries are tracked in consecutive video frames with a linear-parabolic tracking model. The model parameters are updated with Kalman filtering method. Error-checking is performed iteratively to ensure the performance of the lane estimation model. Simulation results demonstrate good performance of the proposed Kalman-based linear-parabolic lane tracking system with fine parameters update. © 2009 IEEE.
Showing items related by title, author, creator and subject.
Lim, Hann; Seng, K.; Le Ngo, A.; Ang, L. (2009)This paper presents a real-time implementation on lane detection and tracking system in order to localize lane boundaries and estimate a linear-parabolic lane model. It is realized using TMS320DM642 DSP board. Video frame ...
Lim, Hann; Seng, K.; Ang, L.; Chin, S. (2009)This chapter presents a vision-based lane-vehicle detection and tracking system comprising of (i) enhanced lane boundary detection, (ii) linear-parabolic lane region tracking, and (iii) vehicle detection with a proposed ...
To, Lap C. (1996)Nonlinearities exist in all process control systems. The use of linear control techniques is valid only in a narrow range of operation. Therefore, in this thesis, multivariable nonlinear control techniques are considered. ...