White line detection by tracking candidates on a reverse projection image

摘要

We propose a new white line detection method. Reverse-projecting the image obtained from the camera attached in vehicles on a road diploma, and detecting and pursuing a candidate white line on the reverse projection image. It is ease to detect candidates of white lines, because white lines become parallel in reverse projection image. Moreover, the stable white line detection seldom influenced of vibration of vehicles etc. is attained by carrying out pursuit processing of the candidate white line between frames. This white line detection is useful to lane departure warning, obstacle detection, etc.