001 A robust lane detection and tracking method based on computer vision教程.pdfVIP

Home Search Collections Journals About Contact us My IOPscience A robust lane detection and tracking method based on computer vision This article has been downloaded from IOPscience. Please scroll down to see the full text article. 2006 Meas. Sci. Technol. 17 736 (/0957-0233/17/4/020) View the table of contents for this issue, or go to the journal homepage for more Download details: IP Address: 6 The article was downloaded on 25/10/2012 at 06:54 Please note that terms and conditions apply. INSTITUTE OF PHYSICS PUBLISHING MEASUREMENT SCIENCE AND TECHNOLOGY Meas. Sci. Technol. 17 (2006) 736–745 doi:10.1088/0957-0233/17/4/020 A robust lane detection and tracking method based on computer vision Yong Zhou, Rong Xu, Xiaofeng Hu and Qingtai Ye 640 Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200 030, People’s Republic of China E-mail: zhou@, rxu@, wshxf@ and yqingtai@ Received 2 October 2005, in final form 6 January 2006 Published 21 February 2006 Online at /MST/17/736 Abstract This paper presents a robust method designed to detect and track a road lane from images provided by an on-board monocular monochromatic camera. The proposed lane detection approach makes use of a deformable template model to the expected lane boundaries in the image, a maximum a posteriori formulation of the lane detection problem, and a Tabu search algorithm to maximize the posterior density. The model parameters completely determine the position of the host vehicle within the lane, its heading direction and the local structure of the lane ahead. Based on the lane detection result in the first frame of the image sequence, a particle filter, having multiple hypotheses capability and performing nonlin