We propose an image-based lane recognition system that is robust to noise and capable of detecting straight lines and curves. The proposed apparatus includes an interest area setting unit for setting an area of interest including a driving lane in a road image from a vision sensor, an IPM unit for performing inverse perspective mapping (IPM) on an image of a region of interest provided from the ROI setting unit, A filtering and threshold processing unit for filtering the IPM image output from the IPM unit and converting a pixel having a value lower than a predetermined threshold value into a specific value in pixels of the filtered IPM image, A lane-tracking unit for fitting lanes detected by the lane detecting unit, an inverse IPM unit for performing inverse IPM conversion on the lane fitted by the lane-following unit, and an inverse-IPM unit for converting the in- And a lane-output unit for generating and outputting a final lane by deriving a road equation by applying a road model to the lane.
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