Real time road mark following

Abstract : We present an original method for real time road mark following to be carried out on a motorway and based on a prediction-verification-dating principle. The prediction is made using a model including three dynamic parameters acting linearly, the road is assumed flat with a continuous lateral curve. Detection is based on the analysis of a few lines (<10) of the image. On each line, a probability function allows a prediction of the width and position of the marking strip to be made. Updating uses the least squares method enabling a temporal smoothing of the vector of the model's parameters. Reliable results have been obtained on recorded motorway sequences taken at speeds reaching 130 km/h. Integration of the method was made on standard equipment without the need for a special processor.
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Submitted on : Monday, December 20, 2010 - 8:45:01 AM
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Roland Chapuis, Jean Gallice, Frédéric Jurie, J. Alizon. Real time road mark following. Signal Processing, Elsevier, 1991, 24 (3), pp.331--343. ⟨10.1016/0165-1684(91)90109-V⟩. ⟨inria-00548458⟩

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