Autonomous Intelligent Vehicles by Hong Cheng

Author:Hong Cheng
Language: eng
Format: epub
Publisher: Springer London, London

5.3 Generating Candidate ROIs

Inspired by A. Broggio [2], we extract three ROIs: a near one, one in the middle, and a far one from a 640×480 image. But his approach uses fixed regions at the cost of flexibility. In our approach, ROIs are extracted using lane markings. In a structured lane, we detect the vanishing point using the lane edges. For the consideration of real-time processing, we use a simple vanishing point detector rather than a complex one. Discontinuity and noise related problems can be solved by combining, for instance, 10 subsequent images (see Fig. 5.1(a)). Edge detection is done on combined images consisting of 10 overlapping subsequent images, and the equations of two lanes are deduced from a voting procedures like HT by analyzing horizontal and vertical edges. Four random points P di , d=l or r; i=0,…,3, are selected on each lane line, and each tangent direction of two points (shown in (5.1)) between the closest 3 points

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