Using Lane Detection for Vehicle Localization

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Using Lane Detection for Vehicle Localization Min Young Kim, Soo Woung Ryu, Hee Tae Jung {minykim, bshboy, hjung} @ stanford.edu Computer Science Dept. Stanford University Mar. 17, 2008 CS223B Computer Vision Final Project

Vehicle Localization GPS says ‘HERE!’ BUT! EXACTLY WHERE!?!?

Vehicle Localization GPS, RNDF, Image Sequence Image Sequence The camera used

Lane Detection Approach (abbr.) Canny Edge Detection Divide an image into 3 sections Hough Transform Standard ver. Filter out unreasonable lines Thresholds Degree, gradient Compute the offset Offset from the x-center of an image Compute the locally accurate position

Result Video-1. Lane Detection w/o Adjust (1)

Result Video-1. Lane Detection w/ Adjust

Result Video-2. Localization (1)

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