Computer Science ›› 2018, Vol. 45 ›› Issue (10): 255-260.doi: 10.11896/j.issn.1002-137X.2018.10.047

• Graphics, Image & Pattern Recognition • Previous Articles     Next Articles

Efficient Method of Lane Detection Based on Multi-frame Blending and Windows Searching

CHEN Han-shen1,2, YAO Ming-hai1, CHEN Zhi-hao1, YANG Zhen1   

  1. College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China 1
    Zhejiang Institute of Communications,Hangzhou 311112,China 2
  • Received:2017-08-12 Online:2018-11-05 Published:2018-11-05

Abstract: Lane detection is one of the most important research areas in assistance driving and automated driving.Many efficient lane detection algorithms have been proposed recently,but most of them are still hard to achieve a balance between computational efficiency and accuracy.This paper presented a real-time and robust approach for lane detection based on multi-frame blending and windows searching.Firstly,the image is cropped and mapped to create a bird’s-eye view of the road.Then,the RGB image is converted to a binary image based on a threshold of multi-frame blending.In the next step,the starting point of the lane line is calculated by using the pixel density distribution in the near field of view,and the whole lane is extracted by the method of sliding window search.Finally,according to the feature of candidate lane,different lane models are defined and chosen,and the model parameters are obtained by Least Square Estimation(LSE).The proposed algorithm shows good performance when tested on real-world data containing various lane conditions.

Key words: ADAS, Lane detection, Multi-frame blending, Windows searching

CLC Number: 

  • TP391
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