Road Boundary Detection and Tracking
Using Monochrome Camera Images
Sarah Strygulec, Dennis Müller, Mirko Meuter, Christian Nunn,
Sharmila (Lali) Ghosh, Christian Wöhler
16th International Conference on Information Fusion 2013
2
Motivation
• prevention of accidents important task in driver assistance
• many accidents are caused by inattention
• most systems for lane departure warning rely on lane
markings
• systems for roads without lane markings still required
development of a system for road boundary detection
and tracking
system that is not restricted to roads with lane markings
3
Particle Filter System - Overview
measurement extraction
calculation of likelihood
weight update estimation of
true state
monochrome image
input
output
motion model
prior pdf
posterior pdf
resampling
4
Dynamic System – Clothoid Road Model
state vector
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Dynamic System – Motion Model
•
• relative motion of road boundary:
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Particle Filter System - Overview
measurement extraction
calculation of likelihood
weight update estimation of
true state
monochrome image
input
output
motion model
prior pdf
posterior pdf
resampling
7
•
Measurement – Image Classification
■ road
■ non-road
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Measurement – Overlapping
combined feature
vectors
feature extraction
regions
combined feature
vectors
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Measurement – Probability
GT: road GT: non-road
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Particle Filter System - Overview
measurement extraction
calculation of likelihood
weight update estimation of
true state
monochrome image
input
output
motion model
prior pdf
posterior pdf
resampling
11
Likelihood – Calculation (1/2)
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Likelihood – Calculation (2/2)
idx0
idx1
idx2
idx3
idx4
idx5
idx0
idx1
idx2
idx3
idx4
idx5
idx0
idx1
idx2
idx3
idx4
idx5
idx0
idx1
idx2
idx3
idx4
idx5
idx0
idx1
idx2
idx3
idx4
idx5
idx0
idx1
idx2
idx3
idx4
idx5
idx0
idx1
idx2
idx3
idx4
idx5
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Particle Filter System - Overview
measurement extraction
calculation of likelihood
weight update estimation of
true state
monochrome image
input
output
motion model
prior pdf
posterior pdf
resampling
14
Results
match-rate 0.7729
RMSE[m] 0.2957
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Videos
16
Thank you.
Delphi Deutschland GmbH
TU Dortmund University
Image Analysis Group
