Color Lane Line Detection Using the Bhattacharyya Distance

In this paper, we propose a color lane line detection algorithm that can be used with moving vehicles. First, to reduce false detection and processing time, we considered the geometric relationship of the camera and the vanishing point. To effectively utilize color images for color line detection, we used the edge detection method based on the Bhattacharyya distance and a morphological operation. The proposed method was tested under various conditions (highway, urban, others; sunny, cloudy, early evening) and the experimental results show promising performance.