Using Lane Detection for Vehicle Localization

Min Young Kim, Soo Woung Ryu, Hee Tae Jung{minykim, bshboy, hjung} @ stanford.edu

Computer Science Dept.Stanford University

Mar. 17, 2008

CS223B Computer Vision Final Project

Final Project - Lane Detection for Vehicle Localization

Vehicle Localization

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GPS says‘HERE!’

BUT!EXACTLY

WHERE!?!?

Final Project - Lane Detection for Vehicle Localization

Vehicle Localization

GPS, RNDF, Image Sequence

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The camera used

Image Sequence

Final Project - Lane Detection for Vehicle Localization

Lane Detection Approach (abbr.)

Canny Edge Detection Divide an image into 3 sections

Hough Transform Standard ver.

Filter out unreasonable lines Thresholds

Degree, gradient

Compute the offset Offset from the x-center of an image

Compute the locally accurate position

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Final Project - Lane Detection for Vehicle Localization

Result Video-1. Lane Detection w/o Adjust (1)

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Final Project - Lane Detection for Vehicle Localization

Result Video-1. Lane Detection w/ Adjust

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Final Project - Lane Detection for Vehicle Localization

Result Video-2. Localization (1)

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