Current and Adjacent Lanes Detection for an Autonomous Vehicle to Facilitate Obstacle Avoidance Using a Monocular Camera
Publish place: 12th Iranian Conference on Intelligent Systems
Publish Year: 1392
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICS12_210
تاریخ نمایه سازی: 11 مرداد 1393
Abstract:
In order to gain higher efficiency in obstacle avoidance task in autonomous vehicles from the aspect of processing cost and operating in real-time, it`s critical to find aregion of interest (ROI) which obstacles are more possible to appear and degrade the obstacle`s search zone to it. In this paperwe propose novel methods to find this ROI using computer vision technologies. The road scenes are acquired with a monocular camera. Current lane of autonomous vehicle is recognized bydetection of lane markings. Adjacent lanes are also estimated based on some geometric calculations. A novel lane matchingmechanism is suggested to validate detected lane markings. Finally a method for lane departure warning is proposed. Theexperimental results show that the proposed algorithms correctly find lanes region with high accuracy in real-time, are robust tonoise and shadows, testing on Hemmat highway in Tehran and another dataset in the daytime
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Authors
Atena Sadat Kalaki
Computer Engineering and Information Technology Department AmirKabir University of Technology Tehran, Iran
Reza Safabakhsh
Computer Engineering and Information Technology Department AmirKabir University of Technology Tehran, Iran
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