Road Lane Detection with Elimination of High-Curvature Edges

摘要

The following paper proposes a procedure for an automatic detection of road-lanes, which involves three main steps: two-category scene segmentation, a detection of lane segment candidates and decision making. The main contribution of the paper is an introduction of a new step high-curvature edge filtering into a typical road image processing. This step substantially reduces an amount of noise and yields an improved lane detection performance. The remaining two steps of lane detection are dynamic programming-based selection of line segments, and Hough transform-based selection of the most consistent segments. The proposed approach proved to produce good results for a variety of real-traffic conditions, including correct detection in heavily shadowed road images.