Abstract-We present a robust and real time approach to lane marker detection in urban streets. It is based on generating a top view of the road, filtering using selective oriented Gaussian filters, using RANSAC line fitting to give initial guesses to a new and fast RANSAC algorithm for fitting Bezier Splines, which is then followed by a post-processing step. Our algorithm can detect all lanes in still images of the street in various conditions, while operating at a rate of 50 Hz and achieving comparable results to previous techniques.
In REF the images is filtered using optimized Gaussian filters.
Real time Detection of Lane Markers in Urban Streets
IEEE Intelligent Vehicles Symposium, Eindhoven, The Netherlands, June 2008
Computer Science