Lane Detection using a Stereo Vision Camera

Abstract

Nowadays, intelligent vehicles have received a considerable attention among the researchers to reduce the number of collisions and road accidents. One of the challenging tasks for these vehicles is road lane detection or road boundaries detection. In this research, a lane detection algorithm was developed to detect the right and left lane markers on the road by using two cameras which act as a stereo vision for the system. It is based on edge detection by using Canny Edge Detection to reduce unnecessary data on the images and to perform features recognition for the lane. After the features has been extracted, the algorithm is followed by Hough Transform method to generate the detected lines on the image obtained from the stereo vision camera. The algorithm has to work in different environment to be used in real world applications. The stereo vision algorithm is implemented to generate disparity map of area. This helps to gain more information on environment, such as the estimated distance of the lines, the distance of the vehicle to the turns. The experiment result shows the detection of right and left lane on the road with disparity map to determine an estimate of the distance of detected lanes from the stereo vision camera.