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This paper presents a fast and robust lane detection method designed to track 3D road shape and estimate accurate vehicle location in real-time. This method is based upon road curvature calculated from digital road network. This curvature gives cues for detection in some difficult situation like road lane markers are occupied by other vehicles, dirt and shadow. Moreover, to stabilize estimated road parameters, we applied AMF&PDF to handle the variation of road parameters in every frame and provide continuous vehicle location data. Experiment results show the effectiveness and robustness of our approach under different kinds of environment conditions.