River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking
Joint Authors
Ang, Li-Minn
Seng, Kah Phooi
Lim, King Hann
Source
International Journal of Vehicular Technology
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-11-05
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Telecommunications Engineering
Electronic engineering
Abstract EN
A novel lane detection technique using adaptive line segment and river flow method is proposed in this paper to estimate driving lane edges.
A Kalman filtering-based B-spline tracking model is also presented to quickly predict lane boundaries in consecutive frames.
Firstly, sky region and road shadows are removed by applying a regional dividing method and road region analysis, respectively.
Next, the change of lane orientation is monitored in order to define an adaptive line segment separating the region into near and far fields.
In the near field, a 1D Hough transform is used to approximate a pair of lane boundaries.
Subsequently, river flow method is applied to obtain lane curvature in the far field.
Once the lane boundaries are detected, a B-spline mathematical model is updated using a Kalman filter to continuously track the road edges.
Simulation results show that the proposed lane detection and tracking method has good performance with low complexity.
American Psychological Association (APA)
Lim, King Hann& Seng, Kah Phooi& Ang, Li-Minn. 2012. River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking. International Journal of Vehicular Technology،Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-473753
Modern Language Association (MLA)
Lim, King Hann…[et al.]. River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking. International Journal of Vehicular Technology No. 2012 (2012), pp.1-10.
https://search.emarefa.net/detail/BIM-473753
American Medical Association (AMA)
Lim, King Hann& Seng, Kah Phooi& Ang, Li-Minn. River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking. International Journal of Vehicular Technology. 2012. Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-473753
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-473753