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In this paper we present a method to detect and track straight lane boundaries, using a forward-looking single camera mounted on-board. The method proved to be robust, even under varying lighting conditions, and in the presence of heavy shadowing cast by vegetation, vehicles, bridges, etc. Moreover, false positive hardly occur. The lane markings are being continuously detected even when the vehicle is performing maneuvers such as excursion or lane change. The performance is achieved by a novel combination of methods, namely, by first finding vanishing point candidates for the lane boundaries, and later by the careful selection of line segments given a vanishing point, and finally by using a smart heuristics to select the whole set of four lane boundaries. Suppression of false positives is further achieved by tracking the vanishing point, and by constraining the lane width based on recent history.