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

页码：3261 / +

页数：2

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