| Title |
Recognition of Lanes, Stop Lines and Speed Bumps using Top-view Images |
| Authors |
안영선(Ahn, Young-Sun) ; 곽성우(Kwak, Seong Woo) ; 양정민(Yang, Jung-Min) |
| DOI |
https://doi.org/10.5370/KIEE.2016.65.11.1879 |
| Keywords |
Autonomous vehicles ; Image processing ; Lane detection ; Stop line detection ; Speed bump detection ; Top-view |
| Abstract |
In this paper, we propose a real-time recognition algorithm of lanes, stop lines and speed bumps on roads for autonomous vehicles. First, we generate a top-view using the image transmitted from a camera that is installed to see the front of a vehicle. To speed up the processing, we simplify the mapping algorithm in constructing a top-view wherein the region of interest (ROI) is concerned. The features of lanes, stop lines and speed bumps, which are composed of lines, are searched in the edge image of the top-view, then followed by labeling and clustering specialized to detect straight lines. The width of lines, distances from the center of a vehicle, and curvature of each cluster are considered to select final candidates. We verify the proposed algorithm on real roads using the commercial car (KIA K7) which is converted into an autonomous vehicle. |