| 摘要 |
<p>The present invention relates to a lane detection method for an intelligent vehicle including the steps of: (a) detecting a vanishing point of a road using RANSAC algorithm in the initial frame of a received image; (b) storing a predetermined area around the vanishing point as a template area (TA) which will be used for template matching; (c) estimating a lane while going down from the vanishing point; (d) extracting a perspective transformation coefficient based on the estimated lane; (e) extracting an inverse perspective transformation coefficient by applying inverse perspective transformation to the extracted perspective transformation coefficient, and obtaining an image from which perspective is removed using the inverse perspective transformation coefficient; and (f) detecting a lane by applying a lane filter to the image from which perspective is removed. The present invention provides the strong lane detecting method in real time even under inclined road conditions using the inverse perspective transformation technology, which does not require any camera parameter of images, and the proposed lane filter.</p> |
