Road and Lane Detection Using Stereo Camera

This paper introduces a method of road and lane detection using stereo camera for self driving car. When vehicles are exist on the road, it is difficult to find load sign such as lane, crosswalk, stop line, etc., only using a single camera. As a result of the stereo camera, the disparity map can be used to separate the road and the vehicle easily, and road sign detection is possible in the separated road area. In this paper, we show the road extraction from the input image which includes several vehicles and lane detection using Dynamic programming and Kalman filter steadily.