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Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation

Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation,10.1109/TITS.2006.869595,IEEE Transactions on Intellige

Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation   (Citations: 146)
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Driver-assistance systems that monitor driver intent, warn drivers of lane departures, or assist in vehicle guidance are all being actively considered. It is therefore important to take a critical look at key aspects of these systems, one of which is lane-position tracking. It is for these driver-assistance objectives that motivate the development of the novel "video-based lane estimation and tracking" (VioLET) system. The system is designed using steerable filters for robust and accurate lane-marking detec- tion. Steerable filters provide an efficient method for detecting cir- cular-reflector markings, solid-line markings, and segmented-line markings under varying lighting and road conditions. They help in providing robustness to complex shadowing, lighting changes from overpasses and tunnels, and road-surface variations. They are efficient for lane-marking extraction because by computing only three separable convolutions, we can extract a wide variety of lane markings. Curvature detection is made more robust by in- corporating both visual cues (lane markings and lane texture) and vehicle-state information. The experiment design and evaluation of the VioLET system is shown using multiple quantitative metrics over a wide variety of test conditions on a large test path using a unique instrumented vehicle. A justification for the choice of met- rics based on a previous study with human-factors applications as well as extensive ground-truth testing from different times of day, road conditions, weather, and driving scenarios is also presented. In order to design the VioLET system, an up-to-date and compre- hensive analysis of the current state of the art in lane-detection research was first performed. In doing so, a comparison of a wide variety of methods, pointing out the similarities and differences between methods as well as when and where various methods are most useful, is presented.
Journal: IEEE Transactions on Intelligent Transportation Systems - TITS , vol. 7, no. 1, pp. 20-37, 2006
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    • ...MERGING applications such as X-by-wire [1], [2] or vision subsystems for intelligent driver assistance and safety warnings [3], [4] need in-vehicle networks with demanding requirements in terms of high data rate, fault tolerance, and deterministic message transmission...
    • ...However, advanced automotive control systems for blind spot and lane departure warnings, collision avoidance, and driver-assistance vision systems [3], [4] rely on data coming from multiple high-bandwidth sensors (radars, infrared, and charge-coupled device/CMOS cameras) and hence require networks with data rates up to hundreds of megabits per second...

    Federico Barontiet al. Design and Verification of Hardware Building Blocks for High-Speed and...

    • ...models and lane detection methods, please refer to [7,4,19, 14], especially the work in [19], which provides an up-to-date table listing driving conditions, lane detector models and difficulties...
    • ...models and lane detection methods, please refer to [7,4,19, 14], especially the work in [19], which provides an up-to-date table listing driving conditions, lane detector models and difficulties...

    Jiang Ruyiet al. Lane detection and tracking using a new lane model and distance transf...

    • ...McCall and Trivedi [44] gave a comprehensive survey on the detection and tracking from five aspects, including road modeling, road marking extraction, preprocessing, vehicle modeling, position tracking, and common assumptions and comparative analysis...
    • ...The authors pointed out [44] the following four cases...

    Junping Zhanget al. Data-Driven Intelligent Transportation Systems: A Survey

    • ...A large number of lane detection algorithms have been reported, which can roughly be divided into feature- and modelbased methods (see, e.g., [2])...

    Irene Markelicet al. The Driving School System: Learning Basic Driving Skills From a Teache...

    • ...Numerous vision-based road detection algorithms have emerged as one of the components in autonomous vehicle navigation systems [2], [3]...

    Chih-Ming Hsuet al. Road detection based on bread-first search in urban traffic scenes

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