Tracking and data association
Randomized Hough transform (RHT): basic mechanisms, algorithms, and computational complexities
CVGIP: Image Understanding
An Embedded Real-Time Lane-Keeper for Automatic Vehicle Driving
CISIS '08 Proceedings of the 2008 International Conference on Complex, Intelligent and Software Intensive Systems
Springrobot: a prototype autonomous vehicle and its algorithms for lane detection
IEEE Transactions on Intelligent Transportation Systems
Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation
IEEE Transactions on Intelligent Transportation Systems
Lane Detection With Moving Vehicles in the Traffic Scenes
IEEE Transactions on Intelligent Transportation Systems
Lane detection by orientation and length discrimination
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
IEEE Transactions on Image Processing
Pipelined architecture for real-time cost-optimized extraction of visual primitives based on FPGAs
Digital Signal Processing
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This paper presents an algorithm for roadway path extraction and tracking and its implementation in a Field Programmable Gate Array (FPGA) device. The implementation is particularly suitable for use as a core component of a Lane Departure Warning (LDW) system, which requires high-performance digital image processing as well as low-cost semiconductor devices, appropriate for the high volume production of the automotive market. The FPGA technology proved to be a proper platform to meet these two contrasting requirements. The proposed algorithm is specifically designed to be completely embedded in FPGA hardware to process wide VGA resolution video sequences at 30 frames per second. The main contributions of this work lie in (i) the proper selection, customization and integration of the main functions for road extraction and tracking to cope with the addressed application, and (ii) the subsequent FPGA hardware implementation as a modular architecture of specialized blocks. Experiments on real road scenario video sequences running on the FPGA device illustrate the good performance of the proposed system prototype and its ability to adapt to varying common roadway conditions, without the need for a per-installation calibration procedure.