Using Lane Detection for Vehicle Localization
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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
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Final Project - Lane Detection for Vehicle Localization
Vehicle Localization
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GPS says‘HERE!’
BUT!EXACTLY
WHERE!?!?
![Page 3: Using Lane Detection for Vehicle Localization](https://reader036.fdocuments.net/reader036/viewer/2022062408/568134fe550346895d9c48e3/html5/thumbnails/3.jpg)
Final Project - Lane Detection for Vehicle Localization
Vehicle Localization
GPS, RNDF, Image Sequence
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The camera used
Image Sequence
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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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![Page 7: Using Lane Detection for Vehicle Localization](https://reader036.fdocuments.net/reader036/viewer/2022062408/568134fe550346895d9c48e3/html5/thumbnails/7.jpg)
Final Project - Lane Detection for Vehicle Localization
Result Video-2. Localization (1)
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