WO2007002964A3 - Method for lane recognition - Google Patents

Method for lane recognition Download PDF

Info

Publication number
WO2007002964A3
WO2007002964A3 PCT/AT2006/000261 AT2006000261W WO2007002964A3 WO 2007002964 A3 WO2007002964 A3 WO 2007002964A3 AT 2006000261 W AT2006000261 W AT 2006000261W WO 2007002964 A3 WO2007002964 A3 WO 2007002964A3
Authority
WO
WIPO (PCT)
Prior art keywords
determined
image
lane
pairs
vanishing point
Prior art date
Application number
PCT/AT2006/000261
Other languages
German (de)
French (fr)
Other versions
WO2007002964A2 (en
Inventor
David Schreiber
Original Assignee
Advanced Comp Vision Gmbh Acv
David Schreiber
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Advanced Comp Vision Gmbh Acv, David Schreiber filed Critical Advanced Comp Vision Gmbh Acv
Publication of WO2007002964A2 publication Critical patent/WO2007002964A2/en
Publication of WO2007002964A3 publication Critical patent/WO2007002964A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
    • G06V10/507—Summing image-intensity values; Histogram projection analysis

Abstract

The invention relates to a method for lane recognition by means of an image recording unit carried on a vehicle. According to the invention, in each image recorded, the edges are detected and the position of the pixels of the edges determined in the image recorded, the image is analysed to determine vanishing points, for generation of an image dividing line, the foot of the given optical centre of the image is connected to the appropriate vanishing point, for each edge pixel, a connecting line to the appropriate vanishing point is generated and the orientation thereof determined, for a given number of said connection lines, the edge pixels thereof are determined and a connection line is generated through each vanishing point, said connection lines are divided into candidates for the definition of the left or right lane marking and allocated to left (LL, RL) or right (LR, RR) lane defining candidates, based on spatial distance ranges of corresponding pairs, candidate pairs for the left (3) and right (4) lane markings are determined, a quality measure is applied to said candidate pairs, and the above procedure carried out on all determined vanishing points, and form the obtained candidate pairs, those with the best quality measures are selected and the result of the quality measure used for evaluation of the relevance of the obtained pairs of lane markings.
PCT/AT2006/000261 2005-07-04 2006-06-26 Method for lane recognition WO2007002964A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0113005A AT502320B1 (en) 2005-07-04 2005-07-04 METHOD FOR DRIVING TRAVEL IDENTIFICATION
ATA1130/2005 2005-07-04

Publications (2)

Publication Number Publication Date
WO2007002964A2 WO2007002964A2 (en) 2007-01-11
WO2007002964A3 true WO2007002964A3 (en) 2007-04-12

Family

ID=37429310

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2006/000261 WO2007002964A2 (en) 2005-07-04 2006-06-26 Method for lane recognition

Country Status (2)

Country Link
AT (1) AT502320B1 (en)
WO (1) WO2007002964A2 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007017293A1 (en) 2007-04-12 2008-10-16 Continental Automotive Gmbh Evaluation device for use in motor vehicle, has determination unit determining roadway limits using both image information captured by black-and-white camera and color camera which is aligned in rear side of vehicle
DE102007019531A1 (en) 2007-04-25 2008-11-13 Continental Automotive Gmbh Lane detection with cameras of different focal lengths
DE102007033887A1 (en) 2007-07-20 2008-09-04 Vdo Automotive Ag Controller for driver assistance system with recommendation for lane change has decision device for deciding about outputting of lane change signal to the driver taking into account further lane and vehicle detection results
DE102007051967A1 (en) 2007-10-31 2009-05-07 Adc Automotive Distance Control Systems Gmbh Detector and method for detecting a lane boundary
US9090263B2 (en) 2010-07-20 2015-07-28 GM Global Technology Operations LLC Lane fusion system using forward-view and rear-view cameras
CN109255316B (en) * 2018-08-30 2021-12-28 深圳市路畅科技股份有限公司 Lane deviation detection method and system
CN111079598B (en) * 2019-12-06 2023-08-08 深圳市艾为智能有限公司 Lane line detection method based on image texture and machine learning

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1320072A2 (en) * 2001-11-30 2003-06-18 Hitachi Ltd. Lane marker recognition method
JP2003256854A (en) * 2002-02-27 2003-09-12 Nissan Motor Co Ltd Apparatus for recognizing road white line

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1320072A2 (en) * 2001-11-30 2003-06-18 Hitachi Ltd. Lane marker recognition method
JP2003256854A (en) * 2002-02-27 2003-09-12 Nissan Motor Co Ltd Apparatus for recognizing road white line

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
CANTONI V ET AL: "Vanishing point detection: representation analysis and new approaches", IMAGE ANALYSIS AND PROCESSING, 2001. PROCEEDINGS. 11TH INTERNATIONAL CONFERENCE ON SEPT.26-28, 2001, PISCATAWAY, NJ, USA,IEEE, 26 September 2001 (2001-09-26), pages 90 - 94, XP010561229, ISBN: 0-7695-1183-X *
KASTRINAKI V ET AL: "A survey of video processing techniques for traffic applications", IMAGE VISION COMPUT; IMAGE AND VISION COMPUTING APR 1 2003, vol. 21, no. 4, 1 April 2003 (2003-04-01), pages 359 - 381, XP002410024 *
SCHREIBER DAVID ET AL: "Single camera lane detection and tracking", IEEE CONF INTELL TRANSPORT SYST PROC ITSC; IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, PROCEEDINGS, ITSC; ITSC'05: 2005 IEEE INTELLIGENT CONFERENCE ON TRANSPORTATION SYSTEMS, PROCEEDINGS 2005, vol. 2005, 2005, pages 1114 - 1119, XP002410102 *
SHIH-PING LIOU ET AL: "Road following using vanishing points", COMPUTER VISION, GRAPHICS, AND IMAGE PROCESSING USA, vol. 39, no. 1, July 1987 (1987-07-01), pages 116 - 130, XP008072039, ISSN: 0734-189X *

Also Published As

Publication number Publication date
AT502320A1 (en) 2007-02-15
AT502320B1 (en) 2007-07-15
WO2007002964A2 (en) 2007-01-11

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