Lane marking detection using image features and line fitting model

Abstract

The lane marking detection task is an essential process in the field of semi-autonomous and autonomous navigation. This paper proposes a method that combines the color and edge information to robustly detect the lane marking within the image either located far on near to the vehicle. Firstly, the region of interest is extracted from the image. Secondly, the set of lane marking features are extracted. To do that, the change in color between road and marking surface is used along a probability density function to extract the set of candidates. Finally, a clustering method along a line fitting model is implemented. Preliminary results were performed and tested on a group of consecutive frames to prove the effectiveness of the proposed method.