Most of the common lane recognition systems are designed to work on well structured roads and rely on the existence of markings. In this paper we present a lane recognition scheme for country roads. Our novel approach works even in the absence of markings. The parameter estimation is formulated as a maximum-a-posteriori estimation task fusing color, texture, and edges. The framework can easily be extended by additional features not considered here. The optimization is carried out by means of a particle filter. Efficient computation schemes allow running the system in video real-time using a standard PC. The proposed algorithm can cope with varying feature statistics. Practical tests prove the robustness on marked as well as unmarked roads.
Lane Recognition on Country Roads
2007-06-01
1615172 byte
Conference paper
Electronic Resource
English
Lane Recognition on Country Roads
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