Camera-based lane marker detection
First Claim
1. A method of detecting road lane markers in a vehicle road using an imaging device, the method comprising the steps of:
- capturing road input data using the imaging device;
applying lighting normalization to the road input data;
convolving the normalized input data with an edge detection filter for generating an edge-based filter response;
convolving the normalized input data with a line detection filter for generating a line-based filter response;
selecting candidate lane markers in response to the edge-based filter response and line-based filter response; and
applying a transformation technique to the candidate lane markers for identifying the lane markings.
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Abstract
A method is provided for detecting road lane markers in a vehicle road using an imaging device. Road input data is captured using the imaging device. Lighting normalization is applied to the road input data. The method detects the road lane markers in a few main orientations in the normalized input data. In each main orientation, the normalized input data is convolved with an oriented edge detection filter for generating an oriented edge-based filter response. The normalized input data is convolved with an oriented line detection filter for generating an oriented line-based filter response. Candidate lane markers are selected in response to the edge-based filter response and line-based filter response in each main orientation. A transformation technique is applied to the candidate lane markers for identifying the lane markings in each main orientation.
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Citations
20 Claims
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1. A method of detecting road lane markers in a vehicle road using an imaging device, the method comprising the steps of:
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capturing road input data using the imaging device; applying lighting normalization to the road input data; convolving the normalized input data with an edge detection filter for generating an edge-based filter response; convolving the normalized input data with a line detection filter for generating a line-based filter response; selecting candidate lane markers in response to the edge-based filter response and line-based filter response; and applying a transformation technique to the candidate lane markers for identifying the lane markings. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A lane marker detection system comprising:
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an imaging device for capturing road input data; a processor for receiving the captured road input data received by the imaging device, the processor applying lighting normalization to the road input data, the processor convolving the normalized input data with an oriented edge detection filter for generating an edge-based filter response, the processor convolving the normalized input data with an oriented line detection filter for generating a line-based filter response, the processor applying a transformation technique to the edge-based filter response and the lane-based filter response for identifying the lane markings; and an output device for identifying a location of each of the lane markers. - View Dependent Claims (18, 19, 20)
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Specification