An effective lane detection algorithm for structured road in urban

Authors:
Weirong Liu;Shutao Li
Affiliations:
College of Electrical and Information Engineering, Hunan University, Changsha, P.R. China,Lanzhou University of Technology, Lanzhou, P.R. China;College of Electrical and Information Engineering, Hunan University, Changsha, P.R. China
Venue:
IScIDE'12 Proceedings of the third Sino-foreign-interchange conference on Intelligent Science and Intelligent Data Engineering
Year:
2012

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Abstract

An effective and robust algorithm for structured road in urban is proposed in this paper. Firstly, the adaptive segmentation method is used to determine reasonable Region of Interest (ROI) that covers all candidate lane markings. Secondly, line segments are extracted by Line Segment Detector (LSD) and be used as low level feature to extract the structural information of road scene. Thirdly, non-lane markings are eliminated by clustering on orientation information and vanishing point. Finally, the lanes are extracted from the remaining candidate lane markings. Experimental results on Caltech lane datasets show that the algorithm can extract lanes in complex structured road scenarios.