| 摘要 |
The present invention relates to a lane detecting system using a lane variation vector and a cardinal spline and a method thereof. The lane detecting system comprises: a preprocessing unit which applies inverse perspective transformation and a lane filter to an inputted image; a lane area extracting unit which extracts a next lane candidate area from a starting frame and a next frame of the image processed through the preprocessing unit, sets a next lane area according to a left/right lane position from the lane candidate area, and searches a starting point and an ending point from the set area; a lane predicting unit which calculates the lane variation vector in the starting frame and the next frame by using the starting point and the ending point of the lane searched through the lane area extracting unit, predicts a point of the lane in an after frame and predicts a new lane position area in a scan area set in the predicted lane position; and a lane detecting unit which sets a control point in the new lane position area predicted through the lane predicting unit and detects the lane by applying the cardinal spline to the set control point. |
