In this paper, a method to detect lanes and obstacles from the images captured by a CCD camera fitted in an automobile is proposed, and a new terminology, 'Moving Window', is defined. Processing the input dynamic images in real time can cause quite a few constraints in terms of hardware. In order to overcome these problems and detect lanes and obstacles in real time using the images, the optimal size of moving window is determined, based upon road conditions and automobile states. The real time detection is made possible through the technique. For each image frame, the moving window is moved in a predicted direction, the accuracy of which is improved by the Kalman filter estimation. The feasibility of the proposed algorithm is demonstrated thorugh the simulated experiments of freeway driving.
The detection of lanes and obstacles in real time using optimal moving window
Fahrspurerkennung und Hinderniserkennung in Echtzeit mit Hilfe einer CCD-Kamera
2001
12 Seiten, 29 Bilder, 3 Tabellen, 20 Quellen
Aufsatz (Zeitschrift)
Englisch
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