Projective Geometry Model for Lane Departure Warning System in Webots

It's an efficient way to avoid single-vehicle departure accident by taking advantage of lane departure warning system. And there are many researchers developed experiments in virtual simulator and then applied them in real to save development time and money. By exploiting the principle of projective geometry of camera, the lane departure warning system is set up in this paper. The slope ratio of lane projected in image is used as the warning indicator. This processing is without calibrated camera that might helpful for meeting the real-time requirement. Experiments are simulated in Webots, because of it can provide realistic sensor simulations, and several dynamic 3D traffic scene by setting up different light conditions and some other parameters.