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Robust Lane Sensing and Departure Warning under Shadows and Occlusions

A prerequisite for any system that enhances drivers' awareness of road conditions and threatening situations is the correct sensing of the road geometry and the vehicle's relative pose with respect to the lane despite shadows and occlusions. In this paper we propose an approach for lane se...

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Detalles Bibliográficos
Autores principales: Tapia-Espinoza, Rodolfo, Torres-Torriti, Miguel
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2013
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3658746/
https://www.ncbi.nlm.nih.gov/pubmed/23478598
http://dx.doi.org/10.3390/s130303270
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author Tapia-Espinoza, Rodolfo
Torres-Torriti, Miguel
author_facet Tapia-Espinoza, Rodolfo
Torres-Torriti, Miguel
author_sort Tapia-Espinoza, Rodolfo
collection PubMed
description A prerequisite for any system that enhances drivers' awareness of road conditions and threatening situations is the correct sensing of the road geometry and the vehicle's relative pose with respect to the lane despite shadows and occlusions. In this paper we propose an approach for lane segmentation and tracking that is robust to varying shadows and occlusions. The approach involves color-based clustering, the use of MSAC for outlier removal and curvature estimation, and also the tracking of lane boundaries. Lane boundaries are modeled as planar curves residing in 3D-space using an inverse perspective mapping, instead of the traditional tracking of lanes in the image space, i.e., the segmented lane boundary points are 3D points in a coordinate frame fixed to the vehicle that have a depth component and belong to a plane tangent to the vehicle's wheels, rather than 2D points in the image space without depth information. The measurement noise and disturbances due to vehicle vibrations are reduced using an extended Kalman filter that involves a 6-DOF motion model for the vehicle, as well as measurements about the road's banking and slope angles. Additional contributions of the paper include: (i) the comparison of textural features obtained from a bank of Gabor filters and from a GMRF model; and (ii) the experimental validation of the quadratic and cubic approximations to the clothoid model for the lane boundaries. The results show that the proposed approach performs better than the traditional gradient-based approach under different levels of difficulty caused by shadows and occlusions.
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spelling pubmed-36587462013-05-30 Robust Lane Sensing and Departure Warning under Shadows and Occlusions Tapia-Espinoza, Rodolfo Torres-Torriti, Miguel Sensors (Basel) Article A prerequisite for any system that enhances drivers' awareness of road conditions and threatening situations is the correct sensing of the road geometry and the vehicle's relative pose with respect to the lane despite shadows and occlusions. In this paper we propose an approach for lane segmentation and tracking that is robust to varying shadows and occlusions. The approach involves color-based clustering, the use of MSAC for outlier removal and curvature estimation, and also the tracking of lane boundaries. Lane boundaries are modeled as planar curves residing in 3D-space using an inverse perspective mapping, instead of the traditional tracking of lanes in the image space, i.e., the segmented lane boundary points are 3D points in a coordinate frame fixed to the vehicle that have a depth component and belong to a plane tangent to the vehicle's wheels, rather than 2D points in the image space without depth information. The measurement noise and disturbances due to vehicle vibrations are reduced using an extended Kalman filter that involves a 6-DOF motion model for the vehicle, as well as measurements about the road's banking and slope angles. Additional contributions of the paper include: (i) the comparison of textural features obtained from a bank of Gabor filters and from a GMRF model; and (ii) the experimental validation of the quadratic and cubic approximations to the clothoid model for the lane boundaries. The results show that the proposed approach performs better than the traditional gradient-based approach under different levels of difficulty caused by shadows and occlusions. Molecular Diversity Preservation International (MDPI) 2013-03-11 /pmc/articles/PMC3658746/ /pubmed/23478598 http://dx.doi.org/10.3390/s130303270 Text en © 2013 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Tapia-Espinoza, Rodolfo
Torres-Torriti, Miguel
Robust Lane Sensing and Departure Warning under Shadows and Occlusions
title Robust Lane Sensing and Departure Warning under Shadows and Occlusions
title_full Robust Lane Sensing and Departure Warning under Shadows and Occlusions
title_fullStr Robust Lane Sensing and Departure Warning under Shadows and Occlusions
title_full_unstemmed Robust Lane Sensing and Departure Warning under Shadows and Occlusions
title_short Robust Lane Sensing and Departure Warning under Shadows and Occlusions
title_sort robust lane sensing and departure warning under shadows and occlusions
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3658746/
https://www.ncbi.nlm.nih.gov/pubmed/23478598
http://dx.doi.org/10.3390/s130303270
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