A model for reasoning about persistence and causation
Computational Intelligence
Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
Toward autonomous driving: the CMU Navlab. Part I - Perception
IEEE Expert: Intelligent Systems and Their Applications
Using Robust Estimation Algorithms for Tracking Explicit Curves
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Histograms of Oriented Gradients for Human Detection
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
On-Vehicle and Aerial Texture Analysis for Vision-Based Desert Road Following
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
One-Shot Learning of Object Categories
IEEE Transactions on Pattern Analysis and Machine Intelligence
An agent based evolutionary approach to path detection for off-road vehicle guidance
Pattern Recognition Letters - Special issue: Evolutionary computer vision and image understanding
Off-road Path Following using Region Classification and Geometric Projection Constraints
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
A Road Extraction Method by an Active Contour Model with Inertia and Differential Features
IEICE - Transactions on Information and Systems
IEICE - Transactions on Information and Systems
Odin: Team VictorTango's entry in the DARPA Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Junior: The Stanford entry in the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
Robust Lane Lines Detection and Quantitative Assessment
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
Shadow Resistant Road Segmentation from a Mobile Monocular System
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Finding multiple lanes in urban road networks with vision and lidar
Autonomous Robots
A Fast and Robust Approach to Lane Marking Detection and Lane Tracking
SSIAI '08 Proceedings of the 2008 IEEE Southwest Symposium on Image Analysis and Interpretation
New Lane Model and Distance Transform for Lane Detection and Tracking
CAIP '09 Proceedings of the 13th International Conference on Computer Analysis of Images and Patterns
Probabilistic lane tracking in difficult road scenarios using stereovision
IEEE Transactions on Intelligent Transportation Systems
Real-Time Traversable Surface Detection by Colour Space Fusion and Temporal Analysis
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Robust lane detection and tracking with RANSAC and Kalman filter
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
A robust road profile estimation method for low texture stereo images
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
Simultaneous detection of lane and pavement boundaries using model-based multisensor fusion
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
Robust Lane Detection and Tracking in Challenging Scenarios
IEEE Transactions on Intelligent Transportation Systems
The Heterogeneous Systems Integration Design and Implementation for Lane Keeping on a Vehicle
IEEE Transactions on Intelligent Transportation Systems
Radar and vision data fusion for hybrid adaptive cruise control on highways
Machine Vision and Applications
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The problem of road or lane perception is a crucial enabler for advanced driver assistance systems. As such, it has been an active field of research for the past two decades with considerable progress made in the past few years. The problem was confronted under various scenarios, with different task definitions, leading to usage of diverse sensing modalities and approaches. In this paper we survey the approaches and the algorithmic techniques devised for the various modalities over the last 5 years. We present a generic break down of the problem into its functional building blocks and elaborate the wide range of proposed methods within this scheme. For each functional block, we describe the possible implementations suggested and analyze their underlying assumptions. While impressive advancements were demonstrated at limited scenarios, inspection into the needs of next generation systems reveals significant gaps. We identify these gaps and suggest research directions that may bridge them.