역투영 변환과 칼만 필터를 이용한 주행차선 추적 = A Lane Tracking Algorithm Using IPM and Kalman Filter

다국어 초록 (Multilingual Abstract)

In this paper, A lane tracking algoritm is proposed for lane departure warning system. To eliminate perspective effect, input image is converted into Bird's View by inverse perspective mapping. Next, suitable features are extracted for lane detection. Using clustering and lane similarity function with noise suppression features are extracted. Finally, lane model is calculated using RANSAC and lane model is tracked using Kalman Filter. Experimental results show that the proposed algorithm can be processed within 20ms and its detection rate approximately 90% on the highway in a variety of environments.

참고문헌 (Reference)

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