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. Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane departure or trajectory planning decision in fully autonomous cars. Traditional lane detection methods rely on a combination of highly-specialized, hand-crafted features and heuristics, usually followed by post-processing techniques, that are computationally expensive and prone to scalability due to road scene variations. More recent approaches leverage deep learning models, trained for pixel-wise lane segmentation, even when no markings are present in the image due to their big receptive field. Despite their advantages, these methods are limited to detecting a pre-defined, fixed number of lanes, e.g. ego-lanes, and can not cope with lane changes. In this paper, we go beyond the aforementioned limitations and propose to cast the lane detection problem as an instance segmentation problem - in which each lane forms its own instance - that can be trained end-to-end. To parametrize the segmented lane instances before fitting the lane, we further propose to apply a learned perspective transformation, conditioned on the image, in contrast to a fixed ”bird’s-eye view” transformation. By doing so, we ensure a lane fitting which is robust against road plane changes, unlike existing approaches that rely on a fixed, predefined transformation. In summary, we propose a fast lane detection algorithm, running at 50 fps, which can handle a variable number of lanes and cope with lane changes. We verify our method on the tuSimple dataset and achieve competitive results. Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane departure or trajectory planning decision in fully autonomous cars. Traditional lane detection methods rely on a combination of highly-specialized, hand-crafted features and heuristics, usually followed by post-processing techniques, that are computationally expensive and prone to scalability due to road scene variations. More recent approaches leverage deep learning models, trained for pixel-wise lane segmentation, even when no markings are present in the image due to their big receptive field. Despite their advantages, these methods are limited to detecting a pre-defined, fixed number of lanes, e.g. ego-lanes, and can not cope with lane changes. In this paper, we go beyond the aforementioned limitations and propose to cast the lane detection problem as an instance segmentation problem - in which each lane forms its own instance - that can be trained end-to-end. To parametrize the segmented lane instances before fitting the lane, we further propose to apply a learned perspective transformation, conditioned on the image, in contrast to a fixed "bird's-eye view" transformation. By doing so, we ensure a lane fitting which is robust against road plane changes, unlike existing approaches that rely on a fixed, pre-defined transformation. In summary, we propose a fast lane detection algorithm, running at 50 fps, which can handle a variable number of lanes and cope with lane changes. We verify our method on the tuSimple dataset and achieve competitive results. This paper presents a feature-based machine vision system for estimating lane-departure of a traveling vehicle on a road. The system uses edge information to define an edge distribution function (EDF), the histogram of edge magnitudes with respect to edge orientation angle. The EDF enables the edge-related information and the lane-related information to be connected. Examining the EDF by the shape parameters of the local maxima and the symmetry axis results in identifying whether a change in the traveling direction of a vehicle has occurred. The EDF minimizes the effect of noise and the use of heuristics, and eliminates the task of localizing lane marks. The proposed system enhances the adaptability to cope with the random and dynamic environment of a road scene and leads to a reliable lane-departure warning system. In this paper, we introduce a robust lane detection method based on the combined convolutional neural network (CNN) with random sample consensus (RANSAC) algorithm. At first, we calculate edges in an image using a hat shape kernel and then detect lanes using the CNN combined with the RANSAC. If the road scene is simple, we can easily detect the lane by using the RANSAC algorithm only. But if the road scene is complex and includes roadside trees, fence, or intersection etc., then it is hard to detect lanes robustly because of noisy edges. To alleviate that problem, we use CNN in the lane detection before and after applying the RANSAC algorithm. In training process of CNN, input data consist of edge images in a region of interest (ROI) and target data become the images that have only drawn real white color lane in black background. The CNN structure consists of 8 layers with 3 convolutional layers, 2 subsampling layers and multi-layer perceptron (MLP) including 3 fully-connected layers. Convolutional and subsampling layers are hierarchically arranged and their arrangement represents a deep structure in deep learning. As a result, proposed lane detection algorithm successfully eliminates noise lines and the performance is found to be better than other formal line detection algorithms such as RANSAC and hough transform. This paper describes the generic obstacle and lane detection system (GOLD), a stereo vision-based hardware and software architecture to be used on moving vehicles to increment road safety. Based on a full-custom massively parallel hardware, it allows to detect both generic obstacles (without constraints on symmetry or shape) and the lane position in a structured environment (with painted lane markings) at a rate of 10 Hz. Thanks to a geometrical transform supported by a specific hardware module, the perspective effect is removed from both left and right stereo images; the left is used to detect lane markings with a series of morphological filters, while both remapped stereo images are used for the detection of free-space in front of the vehicle. The output of the processing is displayed on both an on-board monitor and a control-panel to give visual feedbacks to the driver. The system was tested on the mobile laboratory (MOB-LAB) experimental land vehicle, which was driven for more than 3000 km along extra-urban roads and freeways at speeds up to 80 km h, and demonstrated its robustness with respect to shadows and changing illumination conditions, different road textures, and vehicle movement. Particle filtering of boundary points is a robust way to estimate lanes. This paper introduces a new lane model in correspondence to this particle filter-based approach, which is flexible to detect all kinds of lanes. A modified version of an Euclidean distance transform is applied to an edge map of a road image from a birds-eye view to provide information for boundary point detection. An efficient lane tracking method is also discussed. The use of this distance transform exploits useful information in lane detection situations, and greatly facilitates the initialization of the particle filter, as well as lane tracking. Finally, the paper validates the algorithm with experimental evidence for lane detection and tracking. Driver-assistance systems that monitor driver intent, warn drivers of lane departures, or assist in vehicle guidance are all being actively considered. It is therefore important to take a critical look at key aspects of these systems, one of which is lane-position tracking. It is for these driver-assistance objectives that motivate the development of the novel "video-based lane estimation and tracking" (VioLET) system. The system is designed using steerable filters for robust and accurate lane-marking detection. Steerable filters provide an efficient method for detecting circular-reflector markings, solid-line markings, and segmented-line markings under varying lighting and road conditions. They help in providing robustness to complex shadowing, lighting changes from overpasses and tunnels, and road-surface variations. They are efficient for lane-marking extraction because by computing only three separable convolutions, we can extract a wide variety of lane markings. Curvature detection is made more robust by incorporating both visual cues (lane markings and lane texture) and vehicle-state information. The experiment design and evaluation of the VioLET system is shown using multiple quantitative metrics over a wide variety of test conditions on a large test path using a unique instrumented vehicle. A justification for the choice of metrics based on a previous study with human-factors applications as well as extensive ground-truth testing from different times of day, road conditions, weather, and driving scenarios is also presented. In order to design the VioLET system, an up-to-date and comprehensive analysis of the current state of the art in lane-detection research was first performed. In doing so, a comparison of a wide variety of methods, pointing out the similarities and differences between methods as well as when and where various methods are most useful, is presented The detection of multiple curved lane markings is still a challenge for advanced driver assistance systems today, due to interference such as road markings and shadows cast by roadside structures and vehicles. The vanishing point @math contains the global information of the road image. Hence, @math -based lane detection algorithms are quite insensitive to interference. When curved lanes are assumed, @math shifts with respect to the rows of the image. In this paper, a @math for each individual row of the image is estimated by first extracting a @math (vertical position of the @math ) for each individual row of the image from the v-disparity. Then, based on the estimated @math 's, a 2-D @math (horizontal position of the @math ) accumulator is efficiently formed. Thus, by globally optimizing this 2-D @math accumulator, globally optimum @math s for the road image are extracted. Then, estimated @math s are utilized for multiple curved lane marking detection on nonflat road surfaces. The resultant system achieves a detection rate of 99 in 1862 frames of six stereo vision test sequences. Lane detection is a fundamental aspect of most current advanced driver assistance systems U+0028 ADASs U+0029. A large number of existing results focus on the study of vision-based lane detection methods due to the extensive knowledge background and the low-cost of camera devices. In this paper, previous vision-based lane detection studies are reviewed in terms of three aspects, which are lane detection algorithms, integration, and evaluation methods. Next, considering the inevitable limitations that exist in the camera-based lane detection system, the system integration methodologies for constructing more robust detection systems are reviewed and analyzed. The integration methods are further divided into three levels, namely, algorithm, system, and sensor. Algorithm level combines different lane detection algorithms while system level integrates other object detection systems to comprehensively detect lane positions. Sensor level uses multi-modal sensors to build a robust lane recognition system. In view of the complexity of evaluating the detection system, and the lack of common evaluation procedure and uniform metrics in past studies, the existing evaluation methods and metrics are analyzed and classified to propose a better evaluation of the lane detection system. Next, a comparison of representative studies is performed. Finally, a discussion on the limitations of current lane detection systems and the future developing trends toward an Artificial Society, Computational experiment-based parallel lane detection framework is proposed. A robust and efficient lane detection system is an essential component of Lane Departure Warning Systems, which are commonly used in many vision-based Driver Assistance Systems (DAS) in intelligent transportation. Various computation platforms have been proposed in the past few years for the implementation of driver assistance systems (e.g., PC, laptop, integrated chips, PlayStation, and so on). In this paper, we propose a new platform for the implementation of lane detection, which is based on a mobile phone (the iPhone). Due to physical limitations of the iPhone w.r.t. memory and computing power, a simple and efficient lane detection algorithm using a Hough transform is developed and implemented on the iPhone, as existing algorithms developed based on the PC platform are not suitable for mobile phone devices (currently). Experiments of the lane detection algorithm are made both on PC and on iPhone. A lane-detection system is an important component of many intelligent transportation systems. We present a robust lane-detection-and-tracking algorithm to deal with challenging scenarios such as a lane curvature, worn lane markings, lane changes, and emerging, ending, merging, and splitting lanes. We first present a comparative study to find a good real-time lane-marking classifier. Once detection is done, the lane markings are grouped into lane-boundary hypotheses. We group left and right lane boundaries separately to effectively handle merging and splitting lanes. A fast and robust algorithm, based on random-sample consensus and particle filtering, is proposed to generate a large number of hypotheses in real time. The generated hypotheses are evaluated and grouped based on a probabilistic framework. The suggested framework effectively combines a likelihood-based object-recognition algorithm with a Markov-style process (tracking) and can also be applied to general-part-based object-tracking problems. An experimental result on local streets and highways shows that the suggested algorithm is very reliable. We propose a new detection method to predict a vehicle's trajectory and use it for detecting lane changes of surrounding vehicles. According to the previous research, more than 90 of the car crashes are caused by human errors, and lane changes are the main factor. Therefore, if a lane change can be detected before a vehicle crosses the centerline, accident rates will decrease. Previously reported detection methods have the problem of frequent false alarms caused by zigzag driving that can result in user distrust in driving safety support systems. Most cases of zigzag driving are caused by the abortion of a lane change due to the presence of adjacent vehicles on the next lane. Our approach reduces false alarms by considering the possibility of a crash with adjacent vehicles by applying trajectory prediction when the target vehicle attempts to change a lane, and it reflects the result of lane-change detection. We used a traffic dataset with more than 500 lane changes and confirmed that the proposed method can considerably improve the detection performance. In this work, a new inverse perspective mapping (IPM) technique is proposed based on a robust estimation of the vanishing point, which provide bird-view images of the road, so that facilitating the tasks of road modeling and vehicle detection and tracking. This new approach has been design to cope with the instability that cameras mounted on a moving vehicle suffer. The estimation of the vanishing point relies on a novel and efficient feature extraction strategy, which segmentates the lane markings of the images by combining a histogram-based segmentation with temporal and frequency filtering. Then, the vanishing point of each image is stabilized by means of a temporal filtering along the estimates of previous images. In a last step, the IPM image is computed based on the stabilized vanishing point. Tests have been carried out on several long video sequences captured from cameras inside a vehicle being driven along highways and local roads, with different illumination and weather conditions, presence of shadows, occluding vehicles, and slope changes. Results have shown a significant improvement in terms of lane width constancy and parallelism between lane markings over non-stabilized IPM algorithms. Camera-based lane detection algorithms are one of the key enablers for many semi-autonomous and fullyautonomous systems, ranging from lane keep assist to level-5 automated vehicles. Positioning a vehicle between lane boundaries is the core navigational aspect of a self-driving car. Even though this should be trivial, given the clarity of lane markings on most standard roadway systems, the process is typically mired with tedious pre-processing and computational effort. We present an approach to estimate lane positions directly using a deep neural network that operates on images from laterally-mounted down-facing cameras. To create a diverse training set, we present a method to generate semi-artificial images. Besides the ability to distinguish whether there is a lane-marker present or not, the network is able to estimate the position of a lane marker with sub-centimeter accuracy at an average of 100 frames s on an embedded automotive platform, requiring no pre-or post-processing. This system can be used not only to estimate lane position for navigation, but also provide an efficient way to validate the robustness of driver-assist features which depend on lane information. Abstract Statistics show that worldwide motor vehicle collisions lead to significant deaths and disabilities as well as substantial financial costs to both society and the individuals involved. Unintended lane departure is a leading cause of road fatalities by the collision. To reduce the number of traffic accidents and to improve driver’s safety lane departure warning (LDW), the system has emerged as a promising tool. Vision-based lane detection and departure warning system has been investigated over two decades. During this period, many different problems related to lane detection and departure warning have been addressed. This paper provides an overview of current LDW system, describing in particular pre-processing, lane models, lane de Ntection techniques and departure warning system. Detecting the road area and ego-lane ahead of a vehicle is central to modern driver assistance systems. While lane-detection on well-marked roads is already available in modern vehicles, finding the boundaries of unmarked or weakly marked roads and lanes as they appear in inner-city and rural environments remains an unsolved problem due to the high variability in scene layout and illumination conditions, amongst others. While recent years have witnessed great interest in this subject, to date no commonly agreed upon benchmark exists, rendering a fair comparison amongst methods difficult. In this paper, we introduce a novel open-access dataset and benchmark for road area and ego-lane detection. Our dataset comprises 600 annotated training and test images of high variability from the KITTI autonomous driving project, capturing a broad spectrum of urban road scenes. For evaluation, we propose to use the 2D Bird's Eye View (BEV) space as vehicle control usually happens in this 2D world, requiring detection results to be represented in this very same space. Furthermore, we propose a novel, behavior-based metric which judges the utility of the extracted ego-lane area for driver assistance applications by fitting a driving corridor to the road detection results in the BEV. We believe this to be important for a meaningful evaluation as pixel-level performance is of limited value for vehicle control. State-of-the-art road detection algorithms are used to demonstrate results using classical pixel-level metrics in perspective and BEV space as well as the novel behavior-based performance measure. All data and annotations are made publicly available on the KITTI online evaluation website in order to serve as a common benchmark for road terrain detection algorithms. A localization system that exploits L1-GPS estimates, vehicle data, and features from a video camera as well as lane markings embedded in digital navigation maps is presented. A sensitivity analysis of the detected lane markings is proposed in order to quantify both the lateral and longitudinal errors caused by 2D-world hypothesis violation. From this, a camera observation model for vehicle localization is proposed. The paper presents also a method to build a map of the lane markings in a first stage. The solver is based on dynamical Kalman filtering with a two-stage map-matching process which is described in details. This is a software-based solution using existing automotive components. Experimental results in urban conditions demonstrate an significant increase in the positioning quality. 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.