real-time lane detection based on extended edge-linking algorithm

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Real-time Lane Detection Based on Extended Edge- linking Algorithm Qing Lin Youngjoon Han Hernsoo Hahn Department of Electronic Engineering Soongsil University Seoul, South Korea [email protected] [email protected] [email protected]

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Real-time Lane Detection Based on Extended Edge-linking Algorithm. Qing Lin Youngjoon Han Hernsoo Hahn Department of Electronic Engineering Soongsil University Seoul, South Korea - PowerPoint PPT Presentation

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Page 1: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Real-time Lane Detection Based on Extended Edge-linking Algorithm

Qing Lin Youngjoon Han Hernsoo Hahn Department of Electronic Engineering Soongsil University Seoul, South Korea

[email protected] [email protected] [email protected]

Page 2: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Introductuon

Page 3: Real-time Lane Detection Based on Extended Edge-linking Algorithm

LANE HYPOTHESIS GENERATION

ROI Initialization and Edge Detection

Page 4: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Gaussian filter G Sobel operator Non-Local Maxium Suppression (NLMS)

Page 5: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Extended edge-linking flowchart.

Page 6: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Edge-Linking with Directional Edge Gap Closing

starting point scan

edge tracing

edge-gap closing

Page 7: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Edge-Linking with Directional Edge Gap Closing

Page 8: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Edge-link pair scanning

Page 9: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Flowchart edge-link pair scanning.

Page 10: Real-time Lane Detection Based on Extended Edge-linking Algorithm

LANE HYPOTHESIS VERIFICATION

Page 11: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Lane detection flowchart.

Page 12: Real-time Lane Detection Based on Extended Edge-linking Algorithm

LANE DEPARTURE DETECTION

Line Fitting and Continuity Checking

Page 13: Real-time Lane Detection Based on Extended Edge-linking Algorithm

The continuity of lane checking

Page 14: Real-time Lane Detection Based on Extended Edge-linking Algorithm

Lane Departure Detection

Page 15: Real-time Lane Detection Based on Extended Edge-linking Algorithm

EXPERIMENTAL RESULTS

Sd

Page 16: Real-time Lane Detection Based on Extended Edge-linking Algorithm

EXPERIMENTAL RESULTS

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