A Research on Road Region Based Estimation of Lane Center Line

Abstract

Recent car safety systems exploit not only internal information about state of engine or breaks, but also external information about surroundings of the vehicle. This study deals with vision based estimation of traffic lane center line. By proper estimation of the center line we can gather various information usable for car safety system. A method described in this study is based on analysis of road region within image, and doesn’t necessary require surface marking. A two estimation methods, Kalman filter and particle filter respectively, are applied to three types of center line model, and results of estimation for each approach are discussed.