Lane detection system with around view monitoring for intelligent vehicle

Chang Hoon Kum, Dong Chan Cho, Moon Soo Ra, Whoi-Yul Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Scopus citations

Abstract

A lane detection system using around view monitoring (AVM) images is presented in this paper. To provide safe driving condition, many lane detection approaches have been proposed. However, previous approaches cannot detect lanes stably in low visibility condition such as foggy or rainy days because of the use of frontal camera. The proposed lane detection system uses ego-vehicle's surrounding road information to overcome this problem. The proposed method can be split into two stages: generation of AVM images from four fisheye cameras and lane detection using AVM images. To generate AVM images, we use four fisheye cameras mounted on sides, front, and rear of the vehicle. Top-view images covering the surround area of the vehicle are generated from four fisheye images by calibrations of each camera and their relative camera pose. The lane detection procedure consists of detecting and grouping lane responses, fitting lane responses by a linear model, and tracking lanes with kalman filter to smooth the estimates. Experimental results on full lanes and dashed lanes show that the proposed method can achieve the detection accuracies of 98.78% and 90.88% respectively and processing speed of 1 ms per frame in a desktop computer.

Original languageEnglish
Title of host publicationISOCC 2013 - 2013 International SoC Design Conference
PublisherIEEE Computer Society
Pages215-218
Number of pages4
ISBN (Print)9781479911417
DOIs
StatePublished - 2013 Jan 1
Event2013 International SoC Design Conference, ISOCC 2013 - Busan, Korea, Republic of
Duration: 2013 Nov 172013 Nov 19

Publication series

NameISOCC 2013 - 2013 International SoC Design Conference

Other

Other2013 International SoC Design Conference, ISOCC 2013
CountryKorea, Republic of
CityBusan
Period13/11/1713/11/19

Keywords

  • around view monitoring
  • intelligent vehicle
  • lane detection
  • multiple fisheye camera
  • top view

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  • Cite this

    Kum, C. H., Cho, D. C., Ra, M. S., & Kim, W-Y. (2013). Lane detection system with around view monitoring for intelligent vehicle. In ISOCC 2013 - 2013 International SoC Design Conference (pp. 215-218). [6864011] (ISOCC 2013 - 2013 International SoC Design Conference). IEEE Computer Society. https://doi.org/10.1109/ISOCC.2013.6864011