Road markings detection and tracking using Hough Transform and Kalman Filter

A lane marking tracking method using Hough Transform and Kalman Filtering is presented. Since the HT is a global feature extraction algorithm, it leads to a robust detection relative to noise or partial occlusion. The Kalman filter is used to track the roadsides which are detected in the image by this HT. The Kalman prediction step leads to predict the road marking parameters in the next frame, so we can apply the detection algorithm in smaller regions of interest, the computional cost is being consequently reduced.