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

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

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

4. 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

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

6. Result Video-1. Lane Detection w/ Adjust

7. Result Video-2. Localization (1)