Real-time Lane Detection Based on Extended Edge-linking Algorithm

Real-time Lane Detection Based on Extended Edge-linking Algorithm

Qing Lin Youngjoon Han Hernsoo Hahn Department of Electronic Engineering Soongsil University Seoul, South Korea

lqsdust@163.com young@ssu.ac.kr hahn@ssu.ac.kr

Introductuon

LANE HYPOTHESIS GENERATION

ROI Initialization and Edge Detection

Gaussian filter G Sobel operator Non-Local Maxium Suppression (NLMS)

Extended edge-linking flowchart.

Edge-Linking with Directional Edge Gap Closing

starting point scan

edge tracing

edge-gap closing

Edge-Linking with Directional Edge Gap Closing

Edge-link pair scanning

Flowchart edge-link pair scanning.

LANE HYPOTHESIS VERIFICATION

Lane detection flowchart.

LANE DEPARTURE DETECTION

Line Fitting and Continuity Checking

The continuity of lane checking

Lane Departure Detection

EXPERIMENTAL RESULTS

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EXPERIMENTAL RESULTS

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