A model-driven approach for real-time road recognition

摘要

This article describes a method designed to detect and track road edges starting from images provided by an on- board monocular monochromic camera. Its implementation on specific hardware is also presented in the framework of the VELAC project. The method is based on four modules: (1) detection of the road edges in the image by a model- driven algorithm which uses a statistical model of the lane sides which manages the occlusions or imperfections of the road marking-this model is initialized by an off-line train- ing step; (2) localization of the vehicle in the lane in which it is travelling; (3) tracking to define a new search space of road edges for the next image; and (4) management of the lane numbers to determine the lane in which the vehicle is travelling.