ROBUST LANE DETECTION AND TRACKING WITH RANSAC AND KALMAN FILTER

被引：140
|
作者：
Borkar, Amol [1 ]
Hayes, Monson [1 ]
Smith, Mark T. [2 ]
机构：
[1] Georgia Inst Technol, CSIP, Atlanta, GA 30332 USA
[2] Inst Tillamped Informationstekn, Kungliga Tekniska Hogskolan, Stockholm, Sweden
来源：
2009 16TH IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING, VOLS 1-6 | 2009年
关键词：
Lane detection; Hough transform; Kalman filter;
D O I：
10.1109/ICIP.2009.5413980
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In a previous paper, a simple approach to lane detection using the Hough transform and iterated matched filters was described [1]. This paper extends this work by incorporating an inverse perspective mapping to create a bird's-eye view of the road, applying random sample consensus to help eliminate outliers due to noise and artifacts in the road, and a Kalman filter to help smooth the output of the lane tracker.
引用
收藏
页码：3261 / +
页数：2
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