Analysis on Lane Detection and Departure under IPM

다국어 초록 (Multilingual Abstract)

A method of structure lane detection and departure based on inverse perspective mapping (IPM) and effective gradient points is proposed. Firstly, road image is transformed into plan view using inverse perspective transform to eliminate perspective effect. Secondly, “Sobel” operator and morphological image processing are used to detect edge and eliminate noise. According to the actual lane width, effective gradient points are extracted. Finally, lane is fitted using the least square method. Experimental results show that the method can detect both sides lane and analyze departure and lane detection rate is 97.5%. The method can provide reference for lane departure warning system.

목차 (Table of Contents)

• Abstract
• 1. Introduction
• 2. Lane Inverse Perspective Transformation
• 3. Effective Gradient Points Extraction
• 4. Lane Detection and Departure Analysis
• 4.1 Lane Detection
• 4.2 Lane Departure Analysis
• 5. Experimental Results and Analysis
• 5.1 Lane Detection
• 5.2 Lane Departure Analysis
• 6. Conclusions
• Acknowledgements
• References