On-line estimation of lane departure time under IPM
Wei Qiu · Computer Engineering and Applications Journal · 2007
A real-time on-line algorithm to estimation the lane departure time based on Inverse Perspective Mapping(IPM) is proposed in this paper.At first,we obtain the binary lane image by image processing and eliminate the perspective effect using the IPM model,then we detect the lane markings with Hough Transformation and finally compute the time of lane departure to judge whether the car has an underlying lane departure danger.In this paper,we will introduce this method detailedly and give the test results which prove that our method is efficient in detecting the lane departure.