An Approach to Fast Detection and Tracking of Lane Markers on Highway
Zhao Han-qin · Journal of Academy of Armored Force Engineering · 2013
A real time approach that detects and tracks lane markers on highway is presented.Firstly,the location of vanishing point is estimated in the initial detection step.Then,the feature points on the image are projected to the vanishing point.The lane markers are detected according to the peaks in projection histogram.Finally,the fake lane markers that are parallel to the real lane markers are filtered out by means of the lane width feature and the lane markers strength feature.In the tracking step,the Kalman filter is proposed to narrow the search region.The result of experiments indicates that this approach has a strong ability to resist various disturbing factors and the tracking algorithm runs at a rate of 50Hz.