River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking
A novel lane detection technique using adaptive line segment and river flow method is proposed in this paper to estimate driving lane edges. A Kalman filtering-based B-spline tracking model is also presented to quickly predict lane boundaries in consecutive frames. Firstly, sky region and road shado...
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| Veröffentlicht in: | International journal of vehicular technology 2012, Vol.2012 (2012), p.1-10 |
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| container_title | International journal of vehicular technology |
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| creator | Lim, King Hann Seng, Kah Phooi Ang, Li-Minn |
| description | A novel lane detection technique using adaptive line segment and river flow method is proposed in this paper to estimate driving lane edges. A Kalman filtering-based B-spline tracking model is also presented to quickly predict lane boundaries in consecutive frames. Firstly, sky region and road shadows are removed by applying a regional dividing method and road region analysis, respectively. Next, the change of lane orientation is monitored in order to define an adaptive line segment separating the region into near and far fields. In the near field, a 1D Hough transform is used to approximate a pair of lane boundaries. Subsequently, river flow method is applied to obtain lane curvature in the far field. Once the lane boundaries are detected, a B-spline mathematical model is updated using a Kalman filter to continuously track the road edges. Simulation results show that the proposed lane detection and tracking method has good performance with low complexity. |
| doi_str_mv | 10.1155/2012/465819 |
| format | Article |
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A.</contributor><creatorcontrib>Lim, King Hann ; Seng, Kah Phooi ; Ang, Li-Minn ; Gulliver, T. A.</creatorcontrib><description>A novel lane detection technique using adaptive line segment and river flow method is proposed in this paper to estimate driving lane edges. A Kalman filtering-based B-spline tracking model is also presented to quickly predict lane boundaries in consecutive frames. Firstly, sky region and road shadows are removed by applying a regional dividing method and road region analysis, respectively. Next, the change of lane orientation is monitored in order to define an adaptive line segment separating the region into near and far fields. In the near field, a 1D Hough transform is used to approximate a pair of lane boundaries. Subsequently, river flow method is applied to obtain lane curvature in the far field. Once the lane boundaries are detected, a B-spline mathematical model is updated using a Kalman filter to continuously track the road edges. 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This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-a3709-bf6966b7addb71175b2c2608dd4971e2fd4af975ac04e761eef417763a6e04d43</citedby><cites>FETCH-LOGICAL-a3709-bf6966b7addb71175b2c2608dd4971e2fd4af975ac04e761eef417763a6e04d43</cites><orcidid>0000-0002-5679-7747</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,4024,27923,27924,27925</link.rule.ids></links><search><contributor>Gulliver, T. 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Subsequently, river flow method is applied to obtain lane curvature in the far field. Once the lane boundaries are detected, a B-spline mathematical model is updated using a Kalman filter to continuously track the road edges. Simulation results show that the proposed lane detection and tracking method has good performance with low complexity.</description><subject>Algorithms</subject><subject>Automation</subject><subject>Boundaries</subject><subject>Far fields</subject><subject>Geometry</subject><subject>Kalman filters</subject><subject>Lanes</subject><subject>Mathematical analysis</subject><subject>Mathematical functions</subject><subject>Mathematical models</subject><subject>River flow</subject><subject>Roads</subject><subject>Roads & highways</subject><subject>Statistical analysis</subject><subject>Statistical methods</subject><subject>Studies</subject><subject>Tracking</subject><subject>Traffic flow</subject><issn>1687-5702</issn><issn>1687-5710</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2012</creationdate><recordtype>article</recordtype><sourceid>RHX</sourceid><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><recordid>eNqF0FFLwzAQB_AgCs7pk89CwRdR6nJpmqSPbjqVDQSdzyFrrprZtTPpHH57Oys--OLTHdzvjuNPyDHQS4A0HTAKbMBFqiDbIT0QSsapBLr721O2Tw5CWFAqOM1Yj0we3Qf6aFzWm2hqKoyuscG8cXUVmcpGE1MuTRWNXdmgd9VLPDQBbTSMn1ala_X3ysyb_K0dHpK9wpQBj35qnzyPb2aju3j6cHs_uprGJpE0i-eFyISYS2PtXALIdM5yJqiylmcSkBWWmyKTqckpRykAseAgpUiMQMotT_rkrLu78vX7GkOjly7kWJbtM_U6aBASuFBKJC09_UMX9dpX7XcamEyUYgpUqy46lfs6BI-FXnm3NP5TA9XbYPU2WN0F2-rzTr-6ypqN-wefdBhbgoX5xVwmMk2SL_qEfqE</recordid><startdate>2012</startdate><enddate>2012</enddate><creator>Lim, King Hann</creator><creator>Seng, Kah Phooi</creator><creator>Ang, Li-Minn</creator><general>Hindawi Puplishing Corporation</general><general>Hindawi Publishing Corporation</general><general>Hindawi Limited</general><scope>ADJCN</scope><scope>AHFXO</scope><scope>RHU</scope><scope>RHW</scope><scope>RHX</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>CWDGH</scope><scope>DWQXO</scope><scope>FR3</scope><scope>HCIFZ</scope><scope>L6V</scope><scope>M7S</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><orcidid>https://orcid.org/0000-0002-5679-7747</orcidid></search><sort><creationdate>2012</creationdate><title>River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking</title><author>Lim, King Hann ; Seng, Kah Phooi ; Ang, Li-Minn</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a3709-bf6966b7addb71175b2c2608dd4971e2fd4af975ac04e761eef417763a6e04d43</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Algorithms</topic><topic>Automation</topic><topic>Boundaries</topic><topic>Far fields</topic><topic>Geometry</topic><topic>Kalman filters</topic><topic>Lanes</topic><topic>Mathematical analysis</topic><topic>Mathematical functions</topic><topic>Mathematical models</topic><topic>River flow</topic><topic>Roads</topic><topic>Roads & highways</topic><topic>Statistical analysis</topic><topic>Statistical methods</topic><topic>Studies</topic><topic>Tracking</topic><topic>Traffic flow</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lim, King Hann</creatorcontrib><creatorcontrib>Seng, Kah Phooi</creatorcontrib><creatorcontrib>Ang, Li-Minn</creatorcontrib><collection>الدوريات العلمية والإحصائية - e-Marefa Academic and Statistical Periodicals</collection><collection>معرفة - المحتوى العربي الأكاديمي المتكامل - e-Marefa Academic Complete</collection><collection>Hindawi Publishing Complete</collection><collection>Hindawi Publishing Subscription Journals</collection><collection>Hindawi Publishing Open Access Journals</collection><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>Middle East & Africa Database</collection><collection>ProQuest Central Korea</collection><collection>Engineering Research Database</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>Publicly Available Content Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><jtitle>International journal of vehicular technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Lim, King Hann</au><au>Seng, Kah Phooi</au><au>Ang, Li-Minn</au><au>Gulliver, T. A.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking</atitle><jtitle>International journal of vehicular technology</jtitle><date>2012</date><risdate>2012</risdate><volume>2012</volume><issue>2012</issue><spage>1</spage><epage>10</epage><pages>1-10</pages><issn>1687-5702</issn><eissn>1687-5710</eissn><abstract>A novel lane detection technique using adaptive line segment and river flow method is proposed in this paper to estimate driving lane edges. A Kalman filtering-based B-spline tracking model is also presented to quickly predict lane boundaries in consecutive frames. Firstly, sky region and road shadows are removed by applying a regional dividing method and road region analysis, respectively. Next, the change of lane orientation is monitored in order to define an adaptive line segment separating the region into near and far fields. 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| identifier | ISSN: 1687-5702 |
| ispartof | International journal of vehicular technology, 2012, Vol.2012 (2012), p.1-10 |
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| language | eng |
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| source | Wiley Online Library Open Access; EZB-FREE-00999 freely available EZB journals; Alma/SFX Local Collection |
| subjects | Algorithms Automation Boundaries Far fields Geometry Kalman filters Lanes Mathematical analysis Mathematical functions Mathematical models River flow Roads Roads & highways Statistical analysis Statistical methods Studies Tracking Traffic flow |
| title | River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking |
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