| 摘要 |
Disclosed is a lane extracting method for extracting curvature, slope, and distance information of a lane using the brightness information of an image captured by a camera. The lane extracting method comprises the steps of: setting a dynamic ROI from an image captured by a camera of a vehicle; converting the image captured in color into a gray scale image; detecting a Sobel edge from the image converted into the gray scale image; extracting candidate groups such as points, strengths, and locations of a lane from the image converted into the gray scale image using the brightness information of the image; and extracting the lane, based on vehicle information and distance metric, using the candidate groups extracted in the candidate group ex traction step. |
