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Using Lane Detection for Vehicle Localization

Using Lane Detection for Vehicle Localization. Min Young Kim, Soo Woung Ryu, Hee Tae Jung {minykim, bshboy, hjung} @ stanford.edu Computer Science Dept. Stanford University. Vehicle Localization. GPS says ‘HERE!’. BUT! EXACTLY WHERE!?!?. Vehicle Localization. GPS, RNDF, Image Sequence.

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Using Lane Detection for Vehicle Localization

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  1. Using Lane Detection for Vehicle Localization Min Young Kim, Soo Woung Ryu, Hee Tae Jung {minykim, bshboy, hjung} @ stanford.edu Computer Science Dept. Stanford University CS223B Computer Vision Final Project

  2. Vehicle Localization GPS says ‘HERE!’ BUT! EXACTLY WHERE!?!?

  3. Vehicle Localization • GPS, RNDF, Image Sequence Image Sequence The camera used

  4. Lane Detection Approach (abbr.) • Canny Edge Detection • Divide an image into 3 sections • Hough Transform • Standard ver. • Filter out unreasonable lines • Thresholds • Degree, gradient • Compute the offset • Offset from the x-center of an image • Compute the locally accurate position

  5. Result Video-1. Lane Detection w/o Adjust (1)

  6. Result Video-1. Lane Detection w/ Adjust

  7. Result Video-2. Localization (1)

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