LANE DETECTION USING CATMULL-ROM SPLINE
Yue Wang, Dinggang G. Shen, Eam Khwang Teoh · 1998
Abstract--In this paper, a Catmull-Rom spline based lane model which described the perspective effect of parallel lines was proposed for generic lane boundary. As Catmull-Rom spline can form arbitrary shapes by control points, it can describe a wider range of lane structures than other lane models such as straight and parabolic model. It formulates the lane detection problem in the form of determining the set of lane model control points. The proposed algorithm uses a Maximum likelihood approach to the lane detection problem. We have employed a multiresolution strategy to rapidly find an accurate solution. This coarse-to-fine matching offers an acceptable solution at an affordable computational cost and speeds up the detection. The proposed method is robust to the noise present in the road image with shadows, variations in illumination, marked and unmarked road. Index Terms--Lane detection, Catmull-Rom spline, lane model, machine vision, maximum likelihood. 1