Autonomous vehicles (AVs) present a promising alternative to traditional driver-controlled vehicles with potential improvements in speed, energy, and safety domains. Pipelined approaches to AV development isolate individual facets of driving and produce autonomous systems focused on a specific task rather than developing an end-to-end framework for driving. This paper focuses on the design and development of lane tracking for a 1/10th scale autonomous vehicle. The developed lane tracking system implements inverse perspective mapping to autonomously adjust the perception of the vehicle’s camera feed and then applies probabilistic Hough transforms to identify the edge lines of a scaled-down lane. The computed Hough lines are utilized to evaluate the necessary steering adjustment angle in real time for the vehicle. The results of our steering adjustment stability experiments demonstrate the effective performance of the proposed lane tracking system and algorithms with low computational complexity. This work provides both a successful approach to lane tracking that does not require computing intensive model training on potentially location biased annotated data and an approach for vehicle vision feed annotation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Training-Free Lane Tracking for 1/10th Scale Autonomous Vehicle Using Inverse Perspective Mapping and Probabilistic Hough Transforms


    Contributors:
    Rao, Mihir (author) / Paulino, Laura (author) / Robilla, Victor (author) / Li, Iris (author) / Zhu, Michelle (author) / Wang, Weitian (author)


    Publication date :

    2022-03-26


    Size :

    897734 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Probabilistic and non-probabilistic Hough transforms: overview and comparisons

    Kaelviaeinen, H. / Hirvonen, P. / Xu, L. et al. | British Library Online Contents | 1995



    Probabilistic lane detection and lane tracking for autonomous vehicles using a cascade particle filter

    Lee, Minchae / Jang, Chulhoon / Sunwoo, Myoungho | SAGE Publications | 2015



    Lane tracking method and lane tracking system for an autonomous vehicle

    HSU JIN-YAN / YU CHIEN-HUNG / KU KUN-LUNG et al. | European Patent Office | 2020

    Free access