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Lane-border detection is one of the best developed modules in vision-based driver assistance systems today. However, still there is a need to improve for challenging road and traffic situations, and also a need to design tools for quantitative performance evaluation. This paper discusses and refines a method to generate ground truth for lane markings from(More)
In this paper, we present a 3D map building method based on stereo vision for autonomous land vehicle(ALV).We achieve the 3D coordinates under the camera coordinate system(C-CS) from the disparity map firstly. Then we develop the conversion between the C-CS and the ALV coordinate system(ALV-CS) to acquire the local 3D map which reflects the actual scene(More)
Lane detection, lane tracking, or lane departure warning have been the earliest components of vision-based driver assistance systems. At first (in the 1990s), they have been designed and implemented for situations defined by good viewing conditions and clear lane markings on highways. Since then, accuracy for particular situations (also for challenging(More)
The Hough transform is a popular technique used in the field of image processing and computer vision. With a Hough transform technique, not only the normal angle and distance of a line but also the line-segment's length and midpoint (centroid) can be extracted by analysing the voting distribution around a peak in the Hough space. In this paper, a method(More)
Starting from the disadvantage and two research results of the convergence of the previous genetic algorithm, three operations are added to the standard genetic algorithm to make the algorithm converge to a global optimum without the change of the search randomicity. A path planning method is proposed using the fitness of the roadside constraint, dynamic(More)