제목 Driver Assistance Systems Using an Optimized RANSAC B-spline Fitting Algorithm
저자명

Jiayoung Deng and Youngjoon Han

초   록

Driver assitance systems (DAS) are one of the most important technological means for modern vehicles to ensure driver safety and decrease vehicular accidents on roads. The systems include the localization estimation of the lanes and the determination of the relative position of vehicle and lanes. In this paper, we present a robust driver assistance systems designed to detect and track lane marker form image sequences captrued by a front-view on- board monocular camera,and to raise an alarm when a lane departure occurs. the lane detection and tracking is based on invers perpective mapping(IPM) for the region of interest(ROI)of a camera sequence, filtering by a selective oriented Gaussian filter, the Hough transform, and Kalman filter to give initial regions to our optimized random sample consensus(RANSAC) B-spline fitting. The proposed system works well on all kinds of roads, with curved or straight lane makers and in various weather conditions. Oure experimental results and the accuracy evaluation indicate that the proposed lane detection and departure warning algorithms can rue robustly in real time, achieving an avearage speed of 32.32ms per frame for 320X240 pixel image and 41.ms for a 640X480 pixel image, with a correct detection rate over 90.829%

Key Words Driver assistance systems,B-spline,Kalman filter, Lane detedtion, Lane departure, RANSAC
원문 수록처 International Information Institute,2014  Number 9, pp 4399-4414 vol 17
자료유형 Journal