NDLI: A MonoSLAM approach to lane departure warning system

Content Provider	IEEE Xplore Digital Library
Author	Ozcan, B. Boyraz, P. Yigit, C.B.
Copyright Year	2014
Description	Author affiliation: Istanbul Tech. Univ., Istanbul, Turkey (Ozcan, B.; Boyraz, P.; Yigit, C.B.)
Abstract	Lane Departure Warning (LDW) systems are one of the widely researched topics under Advanced Driver Assistance Systems (ADAS), because they are seen as the most viable way to prevent the traffic accidents caused by involuntary lane departures from happening. Various methods and algorithms used for lane tracking to be used in LDW in the literature; however, most of them only track the lanes or the position of the vehicle inside the lane. This article introduces MonoSLAM based method for LDW design, assuming that the camera is moving in a previously unknown scene. While applying this method, a constant lateral velocity model for the vehicle is used, which assumes that the vehicle is exposed to undetermined Gaussian lateral accelerations. As the first output, the localization of the vehicle on the road is achieved. Moreover, the method is applied with a low cost webcam attached on a vehicle. Five control points for each lane is used to track the lanes and these control points are modelled as if they have a constant position. Detection is made with steerable filters exploiting the state covariance from EKF to make detection more robust. In addition to this, off-line experimental results are given for 200 frames. Results of lane slope on image plane compared with ground truth marked manually for performance benchmarking and localization estimation of a scenario similar to loop closure test is given.
Starting Page	640
Ending Page	645
File Size	410989
Page Count	6
File Format	PDF
e-ISBN	9781479957361
DOI	10.1109/AIM.2014.6878151
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Vehicles Feature extraction Roads Vectors Computational modeling Acceleration
Content Type	Text
Resource Type	Article

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2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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