Lane Geometry Estimation in Urban Environments Using a Stereovision System

  title={Lane Geometry Estimation in Urban Environments Using a Stereovision System},
  author={Radu Danescu and Sergiu Nedevschi and Marc-Michael Meinecke and T B To},
  journal={2007 IEEE Intelligent Transportation Systems Conference},
This paper presents a lane detection system that combines stereovision-specific techniques with grayscale image processing for maximizing the robustness and applicability against the difficult conditions of the urban environment. The lane marking features are extracted using a fast and robust dark-light-dark transition detector that's aware of the perspective effect. The clothoid lane model is matched to the extracted features using line segment fitting for two distance intervals, under special… CONTINUE READING
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