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geometric models for lane detection and tracking

asked 2014-05-07 15:26:40 -0600

sy456 gravatar image

updated 2014-05-07 15:31:44 -0600


I have searched geometric models (e.g.: straight line, circular arc, polinomals, splines etc.) to make some assumptions about the road’s structure. After I define model, I will fit the extracted features with the geometric model by using different methods like Least Squares Method, Least Median Squares, RANSAC etc.

As a start, I will use straight line for highway scenario and then continue with others (e.g.: spline models for curves). I understand the general idea. I am looking for a clue about how to implement geometric lane models in OpenCV or C++. Any suggestions?



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I don't really think you should model a lane besides storing some way of straightness and lines combined. If you for example do a Hough approach, it could lead you to lines resulting in lanes. Calculating distance in between results in amount of lanes, resulting in stating if your are on a certain lane yes or no. Getting what I suggest?

StevenPuttemans gravatar imageStevenPuttemans ( 2014-05-08 06:37:23 -0600 )edit

I didn't get it, can you specify little bit?

sy456 gravatar imagesy456 ( 2014-05-08 11:46:46 -0600 )edit

Start by detecting line and calculate relations between them.

StevenPuttemans gravatar imageStevenPuttemans ( 2014-05-09 01:46:51 -0600 )edit

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answered 2016-06-02 02:42:11 -0600

Siegfried gravatar image

updated 2016-06-02 02:48:48 -0600


I agree with the comment from StevenPuttemans. You should not use different models and try to combine them. To detected the lane markers use a model which approximates the lane markers good enough and which can be easily calculated (e.g. BSplines). Then after detecting the lane markers you can use this information to get the drive lane.

At DARPA Urban Challenge the Team Caltech developed an approach which works very good and runs in real-time.

See website from Mohamed Aly here.There he also presents pictures and videos of the results.

He also published a paper

Mohamed Aly, Real time Detection of Lane Markers in Urban Streets, IEEE Intelligent Vehicles Symposium, Eindhoven, The Netherlands, June 2008.

The paper is available here and the source code here.

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Asked: 2014-05-07 15:26:40 -0600

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Last updated: Jun 02 '16