A robust lane detection and tracking system based on monocular vision is presented in this paper.First,the lane detection algorithm can transform raw images into top view images by inverse perspective mapping(IPM),and detect both inner sides of the lane accurately from the top view images.Then the system will turn to lane tracking procedures to extract the lane according to the information of last frame.If it fails to track the lane,lane detection will be triggered again until the true lane is found.In this system,θ-oriented Hough transform is applied to extract candidate lane markers,and a geometrical analysis of the lane candidates is proposed to remove the outliers.Additionally,vanishing point and region of interest(ROI)dynamically planning are used to enhance the accuracy and efficiency.The system was tested under various road conditions,and the result turned out to be robust and reliable.
展开▼
机译:Structure Determination and Mechanistic Insights of: I.Cyanobacteriochrome NpR6012g4 Light Sensor Protein in Phototaxis II.Retinal Degeneration 3 (RD3) Protein in Vision III.Ryanodine Receptor 2 (RyR2) Regulation by Calmodulin (CaM) in Cardiac Function =结构测定和机理洞悉:I.趋光性中的蓝细菌色素NpR6012g4光敏蛋白 II.视觉作用中的视网膜退化蛋白3 III.心脏功能中的钙调蛋白调控兰诺定受体2