In this paper, we present a novel model to detect lane regions and extract lane departure events (changes and incursions) from challenging, lower-resolution videos recorded with mobile cameras. Our algorithm used a Mask-RCNN based lane detection model as pre-processor. Recently, deep learning-based models provide state-of-the-art technology for object detection combined with segmentation. Among the several deep learning architectures, convolutional neural networks (CNNs) outperformed other machine learning models, especially for region proposal and object detection tasks. Recent development in object detection has been driven by the success of region proposal methods and region-based CNNs (R-CNNs). Our algorithm utilizes lane segmentation mask for detection and Fix-lag Kalman filter for tracking, rather than the usual approach of detecting lane lines from single video frames. The algorithm permits detection of driver lane departures into left or right lanes from continuous lane detections. Preliminary results show promise for robust detection of lane departure events. The overall sensitivity for lane departure events on our custom test dataset is 81.81 .
Image feature-based lane detection is a well researched area of computer vision @cite_13 . The majority of existing image-based methods use detected lane line features such as colors, gray-scale intensities, and textural information to perform edge detection. This approach is very sensitive to illumination and environmental conditions. On the Generic Obstacle and Lane Detection system proposed by Bertozzi and Broggi @cite_10 , lane detection was done using inverse perspective mapping to remove the perspective effect and horizontal black-white-black transaction. Their methodology was able to locate lane markings even in the presence of shadows or other artifacts in about 95 In 2005, Lee and Yi @cite_2 introduced the use of Sobel operator plus non-local maximum suppression (NLMS). It was built upon methods previously proposed by Lee @cite_18 proposing linear lane model and edge distribution function (EDF) as well as lane boundary pixel extractor (LBPE) plus Hough transform. The model was able to overcome weak points of the EDF based lane-departure identification (LDI) system by increasing lane parameters. The LBPE improved the robustness of lane detection by minimizing missed detections and false positives (FPs) by taking advantage of linear regression analysis. Despite improvements, the model performed poorly at detecting curved lanes.
@cite_10 @cite_18 @cite_13 @cite_2
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This paper presents a lane-departure identification (LDI) system of a traveling vehicle on a structured road with lane marks. As is the case with modified version of the previous EDF-based LDI approach [J.W. Lee, A machine vision system for lane-departure detection, CVIU 86 (2002) 52-78], the new system increases the number of lane-related parameters and introduces departure ratios to determine the instant of lane departure and a linear regression (LR) to minimize wrong decisions due to noise effects. To enhance the robustness of LDI, we conceive of a lane boundary pixel extractor (LBPE) capable of extracting pixels expected to be on lane boundaries. Then, the Hough transform utilizes the pixels from the LBPE to provide the lane-related parameters such as an orientation and a location parameter. The fundamental idea of the proposed LDI is based on an observation that the ratios of orientations and location parameters of left- and right-lane boundaries are equal to one as far as the optical axis of a camera mounted on a vehicle is coincident with the center of lane. The ratios enable the lane-related parameters and the symmetrical property of both lane boundaries to be connected. In addition, the LR of the lane-related parameters of a series of successive images plays the role of determining the trend of a vehicle's traveling direction and the error of the LR is used to avoid a wrong LDI. We show the efficiency of the proposed LDI system with some real images. In this paper, a technique for the identification of the unwanted lane departure of a traveling vehicle on a road is proposed. A piecewise linear stretching function (PLSF) is used to improve the contrast level of the region of interest (ROI). Lane markings on the road are detected by dividing the ROI into two subregions and applying the Hough transform in each subregion independently. This segmentation approach improves the computational time required for lane detection. For lane departure identification, a distance-based departure measure is computed at each frame, and a necessary warning message is issued to the driver when such measure exceeds a threshold. The novelty of the proposed algorithm is the identification of the lane departure only using three lane-related parameters based on the Euclidean distance transform to estimate the departure measure. The use of the Euclidean distance transform in combination with the PLSF keeps the false alarm around 3 and the lane detection rate above 97 under various lighting conditions. Experimental results indicate that the proposed system can detect lane boundaries in the presence of several image artifacts, such as lighting changes, poor lane markings, and occlusions by a vehicle, and it issues an accurate lane departure warning in a short time interval. The proposed technique shows the efficiency with some real video sequences. In this paper, we propose a robust vanishing-point constrained lane detection method with a stereo-rig. This method can achieve promising detection performance for both straight and curved lanes without assuming any parametric lane model. First, we propose an accurate and efficient road vanishing point detection scheme based on the v-disparity and visual odometry techniques, where the v-disparity map can significantly reduce the searching space for vanishing point, and the visual odometry can benefit the vanishing point detection of both straight and curved roads. Next, we formulate the lane detection problem as a graph-search procedure, where a vanishing-point constrained Dijkstra shortest-path lane model is proposed to obtain a minimum-cost map. The two lane borders can be detected by finding two optimal paths which originate from the vanishing point to two cost-map derived terminal points, respectively. The proposed method has been tested on the KITTI and the Oxford RobotCar data sets and it works accurately and robustly on a variety of road scenes. In this paper, we present an approach to automatic detection and recognition of signs from natural scenes, and its application to a sign translation task. The proposed approach embeds multiresolution and multiscale edge detection, adaptive searching, color analysis, and affine rectification in a hierarchical framework for sign detection, with different emphases at each phase to handle the text in different sizes, orientations, color distributions and backgrounds. We use affine rectification to recover deformation of the text regions caused by an inappropriate camera view angle. The procedure can significantly improve text detection rate and optical character recognition (OCR) accuracy. Instead of using binary information for OCR, we extract features from an intensity image directly. We propose a local intensity normalization method to effectively handle lighting variations, followed by a Gabor transform to obtain local features, and finally a linear discriminant analysis (LDA) method for feature selection. We have applied the approach in developing a Chinese sign translation system, which can automatically detect and recognize Chinese signs as input from a camera, and translate the recognized text into English.