Real-time road lane recognition and position estimation algorithm in small vehicle is generally limited by the amount of processing power available. The goal of this research is to develop a light-weight algorithm to recognize a pair of road lane markers using computer vision and to estimate the vehicle position relative to the lane markers. The road lane recognition algorithm uses inverse perspective mapping of detected lines to speed-up recognition of the lane markers pair, and then a color matching stage is employed to reduce false recognition. The algorithm is implemented in a small battery-powered processing unit and evaluated in a miniature four-wheel vehicle to recognize a pair of lane markers on the floor and to estimate the vehicle's pose on the floor relative to the lane markers. The algorithm managed to estimate the lateral position and the orientation of the vehicle with accuracy about 1.5 cm and 2 degree respectively, and an estimation rate of 2.7 Hz.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Low cost vision-based real-time lane recognition and lateral pose estimation


    Contributors:
    Tan, Sofyan (author) / Agnes, (author) / Mae, Johannes (author)


    Publication date :

    2013-12-01


    Size :

    738250 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Vision based Real-Time Pose Estimation for Intelligent Vehicles

    Yang, M. / Yu, Q. / Wang, H. et al. | British Library Conference Proceedings | 2004


    Vision based real-time pose estimation for intelligent vehicles

    Ming Yang, / Qian Yu, / Hong Wang, et al. | IEEE | 2004


    Vision based lane recognition apparatus

    European Patent Office | 2017

    Free access

    VISION BASED LANE RECOGNITION APPARATUS

    SHIN JU SEOK / BYUN SUNG JAE / LEE EUN RYUNG et al. | European Patent Office | 2015

    Free access

    Vision-Based Satellite Recognition and Pose Estimation Using Gaussian Process Regression

    Haopeng Zhang / Cong Zhang / Zhiguo Jiang et al. | DOAJ | 2019

    Free access