@article{ref1,
title="Robust Lane Detection and Tracking in Challenging Scenarios",
journal="IEEE transactions on intelligent transportation systems",
year="2008",
author="Kim, ZuWhan",
volume="9",
number="1",
pages="16-26",
abstract="A lane-detection system is an important component of many intelligent transportation systems. We present a robust lane-detection-and-tracking algorithm to deal with challenging scenarios such as a lane curvature, worn lane markings, lane changes, and emerging, ending, merging, and splitting lanes. We first present a comparative study to find a good real-time lane-marking classifier. Once detection is done, the lane markings are grouped into lane-boundary hypotheses. We group left and right lane boundaries separately to effectively handle merging and splitting lanes. A fast and robust algorithm, based on random-sample consensus and particle filtering, is proposed to generate a large number of hypotheses in real time. The generated hypotheses are evaluated and grouped based on a probabilistic framework. The suggested framework effectively combines a likelihood-based object-recognition algorithm with a Markov-style process (tracking) and can also be applied to general-part-based object-tracking problems. An experimental result on local streets and highways shows that the suggested algorithm is very reliable.<p />",
language="",
issn="1524-9050",
doi="10.1109/TITS.2007.908582",
url="http://dx.doi.org/10.1109/TITS.2007.908582"
}