Abstract
This paper proposes a new method to estimate curved lane markings for vheicle steering. The proposed method is decomposed into two steps. First, it estimates the linear parameters of curved lane markings, then it fits lines that intersect at one point to the edges in a Hough space using cross ratio. Second, an angle histogram based on the Hough transform is used to estimate the curvature of the lane markings. We study the stability of the proposed method from experimental results using images of a real road scene.
