Real-time Lane detection by using multiple cues

People have a growing interest for driver assistant systems that are used to monitor the driving conditions by visual technique, and warn and guide drivers the road conditions. This paper proposes a real-time lane detection algorithm which is a necessary part for driver assistant system and unmanned vehicle. The algorithm presented in this paper integrates multiple cues, including bar filter which is efficient to detect bar-shape objects like road lane, color cue, and Hough Transform (HT). After obtaining integrated multiple cues we utilize particle filtering technique to realize lane tracking, which guarantees the robust and real-time lane detection. Experimental results show that the algorithm gives a precise and robust detection of lane in various situations.