Road lane segmentation using dynamic programming for active safety vehicles

Authors:
Dong-Joong Kang;Mun-Ho Jung
Affiliations:
Department of Robot System Engineering, School of Information Engineering, Tongmyong University of Information Technology, Yongdang-dong 535, Nam-gu, Busan-City 609-711, South Korea;Department of Computer-Controlled Mechanical Systems, Osaka University, 2-1, Suita, Osaka 565-0871, Japan
Venue:
Pattern Recognition Letters
Year:
2003

Citing 9
Cited 8

Extracting straight lines

IEEE Transactions on Pattern Analysis and Machine Intelligence
A Computational Approach to Edge Detection

IEEE Transactions on Pattern Analysis and Machine Intelligence
Road following using vannishing points

Computer Vision, Graphics, and Image Processing
Vision and navigation for the Carnegie-Mellon navlab

IEEE Transactions on Pattern Analysis and Machine Intelligence - Special Issue on Industrial Machine Vision and Computer Vision Technology:8MPart
A Fast Line Finder for Vision-Guided Robot Navigation

IEEE Transactions on Pattern Analysis and Machine Intelligence
A parallel architecture for curvature-based road scene classification

Vision-based vehicle guidance
Digital image processing algorithms

Digital image processing algorithms
A fast and stable snake algorithm for medical images

Pattern Recognition Letters
Vision-based adaptive and recursive tracking of unpaved roads

Pattern Recognition Letters

Reverse Optical Flow for Self-Supervised Adaptive Autonomous Robot Navigation

International Journal of Computer Vision
Finding multiple lanes in urban road networks with vision and lidar

Autonomous Robots
Road Lane Detection with Elimination of High-Curvature Edges

ICCVG 2008 Proceedings of the International Conference on Computer Vision and Graphics: Revised Papers
Dynamic programming and curve fitting based road boundary detection

CIMMACS '10 Proceedings of the 9th WSEAS international conference on computational intelligence, man-machine systems and cybernetics
A novel system for robust lane detection and tracking

Signal Processing
A fast method for detecting moving vehicles using plane constraint of geometric invariance

ICCSA'06 Proceedings of the 2006 international conference on Computational Science and Its Applications - Volume Part III
Use of discrete gradient operators for the automatic determination of vanishing points: Comparative analysis

Expert Systems with Applications: An International Journal
Linear fuzzy space based road lane model and detection

Knowledge-Based Systems

Quantified Score

Hi-index	0.10

Visualization

Abstract

Vision-based systems for finding road lanes have to operate robustly under a wide variety of environmental conditions including large amount of scene clutters. This paper presents a method to find the lane boundaries by combining a local line extraction method and dynamic programming. The line extractor obtains an initial position of road lane boundaries from the noisy edge fragments. Then, dynamic programming improves the initial approximation to an accurate configuration of lane boundaries. Input image frame is divided into sub-regions along the vertical direction. The local line extractor extracts candidate lines of road lanes in the sub-region. Most prominent lines are found among candidate lines by dynamic programming that minimizes the functional which measures the deviation from a virtual straight line. The search framework based on DP method reduces computational cost. Experimental results using images of real road scenes demonstrate the feasibility of the proposed algorithm.