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Real-time Lane Detection Based on Extended Edge-linking Algorithm

Real-time Lane Detection Based on Extended Edge-linking Algorithm. Qing Lin Youngjoon Han Hernsoo Hahn Department of Electronic Engineering Soongsil University Seoul, South Korea

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Real-time Lane Detection Based on Extended Edge-linking Algorithm

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  1. Real-time Lane Detection Based on Extended Edge-linking Algorithm Qing Lin Youngjoon Han Hernsoo Hahn Department of Electronic Engineering Soongsil University Seoul, South Korea lqsdust@163.comyoung@ssu.ac.kr hahn@ssu.ac.kr

  2. Introductuon

  3. LANE HYPOTHESIS GENERATION • ROI Initialization and Edge Detection

  4. GaussianfilterG Sobeloperator Non-LocalMaxiumSuppression(NLMS)

  5. Extended edge-linking flowchart.

  6. Edge-Linking with Directional Edge Gap Closing • starting point scan • edge tracing • edge-gap closing

  7. Edge-Linking with Directional Edge Gap Closing

  8. Edge-link pair scanning

  9. Flowchart edge-link pair scanning.

  10. LANE HYPOTHESIS VERIFICATION

  11. Lane detection flowchart.

  12. LANE DEPARTURE DETECTION • Line Fitting and Continuity Checking

  13. The continuity of lane checking

  14. Lane Departure Detection

  15. EXPERIMENTAL RESULTS • Sd

  16. EXPERIMENTAL RESULTS • dff

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