Keeping the vehicle on the road - A survey on on-road lane detection systems

ACM Computing Surveys

Volumn 46, Issue 1, 2013, Pages

  Yenikaya, Sibel ^a   Yenikaya, Gökhan ^a   Düven, Ekrem ^a  

^a ULUDAG UNIVERSITY   (Turkey)

Author keywords

Computer vision; Intelligent vehicles; Lane detection; Road detecetion; Road following

Indexed keywords

ADVANCED DRIVER ASSISTANCE SYSTEMS; AUTOMOBILE DRIVERS; COMPUTER VISION; OBSTACLE DETECTORS; OPTICAL RADAR; ROADS AND STREETS; SURVEYS; WIRELESS SENSOR NETWORKS;

DETECTION SYSTEM; LANE DETECTION; LOCALISATION; RELATIVE POSITIONS; ROAD DETECETION; ROAD DETECTION; ROAD FOLLOWING; ROAD GEOMETRY; ROAD LANE DETECTIONS; SCENE ANALYSIS;

VEHICLES;

EID: 84887689884     PISSN: 03600300     EISSN: 15577341     Source Type: Journal    
DOI: 10.1145/2522968.2522970     Document Type: Review

References (186)

1. ADACHI, E., INAYOSHI, H., AND KURITA, T. 2007. Estimation of lane state from car-mounted camera using multiple-model particle filter based on voting result for one-dimensional parameter space. In Proceedings of the IAPR Conference on Machine Vision Applications (MVA07). 323-326.
2. APOSTOLOFF, N. AND ZELINSKY, A. 2003. Robust vision based lane tracking using multiple cues and particle filtering. In Proceedings of the IEEE Intelligent Vehicles Symposium. 558-563.
3. ASIF, M., ARSHAD, M. R., ZIA, M. Y. I., AND YAHYA, A. 2007. An implementation of active contour and kalman filter for road tracking. Int. J. Appl. Math. 37, 2, 71-77.
4. ASSIDIQ, A., KHALIFA, O., ISLAM, R., AND KHAN, S. 2008. Real-time lane detection for autonomous vehicles. In Proceedings of the International Conference on Computer and Communication Engineering (ICCCE08). 82-88.
5. AUFR̀ERE, R.,CHAPUIS, R., AND CHAUSSE, F. 2001. Amodel driven approach for real-time road recognition. Mach. Vis. Appl. 13, 2, 95-107.
6. BA, L., WANG, Y., AND FAIRHURST, M. 2007. An extended hyperbola model for road tracking for video-based personal navigation. In Proceedings of the 27th SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence. 231-244.
7. BEHRINGER, R. 1995. Detection of discontinuities if road curvature change by glr. In Proceedings of the Intelligent Vehicles Symposium. 78-83.
8. BELLINO, M.,DEMENESES, Y. L.,RYSER, P., AND JACOT, J. 2004. Lane detection algorithm for an onboard camera. In Proceedings of the SPIE Conference on Photonics in the Automobile. Vol. 5663, 102-111.
9. BENMANSOUR, N., LABAYRADE, R., AUBERT, D.,GLASER, S., AND GRUYER, G. 2008. A model driven 3d lane detection system using stereovision. In Proceedings of the 10th International Conference on Control Automation, Robotics and Vision (ICARCV08). 1277-1282.
10. BERTOZZI, M. AND BROGGI, A. 1998. GOLD: A parallel real-time stereo vision system for generic obstacle and lane detection. IEEE Trans. Image Process. 7, 1, 62-81.
11. BEUCHER, S. AND BILODEAU,M. 1994. Road segmentation and obstacle detection by a fast watershed transform. In Proceedings of the Intelligent Vehicles Symposium. 296-301.
12. BIRDAL, T. AND ERÇIL, A. 2007. Real time automated road, lane and car detection for autonomous driving. http://research.sabanciuniv.edu/6693/1/ tolga.pdf.
13. BORKAR, A., HAYES, M., SMITH, M. T., AND PANKANTI, S. 2009. A layered approach to robust lane detection at night. In Proceedings of the IEEE Workshop on Computational Intelligence in Vehicles and Vehicular Systems (CIVVS 09). 51-57.
14. BOUMEDIENE, M., OUAMRI, A., AND DAHNOUN, N. 2007. Lane boundary detection and tracking using nnf and hmm approaches. In Proceedings of the IEEE Intelligent Vehicles Symposium. 1107-1111.
15. BROGGI, A. 1995a. Parallel and local feature extraction: A real-time approach to road boundary detection. IEEE Trans. Image Process. 4, 2, 217-223.
16. BROGGI, A. 1995b. A massively parallel approach to real-time vision-based road markings detection. In Proceedings of the Intelligent Vehicles Symposium. 84-89.
17. BROGGI, A. 1995c. Robust real time lane and road detection in critical shadow conditions. In Proceedings of the International Symposium on Computer Vision. 353-358.
18. CHAO-JUNG, C.,BING-FEI,W.,WEN-HSIN, L.,CHIH-CHUN, K., AND YI-HAN, C. 2009. Mobile lane departurewarning systems. The Proceedings of the IEEE 13th International Symposium on Consumer Electronics (ISCE09). 90-93.
19. CHAPUIS, R., MARMOITON, F., AUFR̀ERE, R., COLLANGE, F., AND DERUTIN, J. 2000. Road detection and vehicles tracking by vision for an on-board acc system in the velac vehicle. In Proceedings of the 3rd International Conference on Information Fusion (FUSION00).WEB5/11-WEB5/18.
20. CHEN, Q. AND WANG, H. 2006. A real-time lane detection algorithm based on a hyperbola-pair model. In Proceedings of the IEEE Intelligent Vehicles Symposium. 510-515.
21. CHENG, H.-Y., JENG, B.-S., TSENG, P.-T., AND FAN, K.-C. 2006. Lane detection with moving vehicles in the traffic scenes. IEEE Trans. Intell. Transport. Syst. 7, 4, 571-582.
22. CHENG, H.-Y., YU, C.-C., TSENG, C.-C., FAN, K.-C., HWANG, J.-N., AND JENG, B.-S. 2008. Hierarchical lane detection for different types of roads. In Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP08). 1349-1352.
23. CHINDARO, S., SIRLANTZIS, K., AND DERAVI, F. 2003. Colour space fusion for texture recognition. In Proceedings of the 4th EURASIP Conference Focused on Video/Image Processing and Multimedia Communications. 181-186.
24. CHIU, K.-Y. AND LIN, S.-F. 2005. Lane detection using color-based segmentation. In Proceedings of the IEEE Intelligent Vehicles Symposium. 706-711.
25. COLENBRENDER, A. AND DE LAEY, J.-J. 2006. Vision requirements for driving safety. Report of the International Council of Ophthalmology at the 30th World Ophthalmology Congress.
26. COLLADO, J. M.,HILARIO, C.,DE LA ESCALERA, A., AND ARMINGOL, J. M. 2005. Detection and classification of road lanes with a frequency analysis. In Proceedings of the IEEE Intelligent Vehicles Symposium. 78-83.
27. CRISMAN, J. D. AND THORPE, C. E. 1991. UNSCARF: A color vision system for the detection of unstructured roads. In Proceedings of the IEEE International Conference on Robotics and Automation. 2496-2501.
28. CRISMAN, J. D. AND THORPE, C. E. 1993. SCARF, A Color vision system that tracks road and intersections. IEEE Trans. Robotics Autom. 9, 1, 49-58.
29. DAHLKAMP, H., KAEHLER, A., STAVENS, D., THRUN, S., AND BRADSKI, G. 2006. Self-supervised monocular road detection in desert terrain. In Proceedings of the Robotics Science and Systems Conference. 16-19.
30. DANESCU, R., SOBOL, S.,NEDEVSCHI, S., AND GRAF, T. 2006. Stereovision-based side lane and guardrail detection. In Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC06). 1156-1161.
31. DANESCU, R., NEDEVSCHI, S., AND TO, T.-B. 2007. A stereovision-based lane detector for marked and nonmarked urban roads. In Proceedings of the IEEE International Conference on Intelligent Computer Communication and Processing. 81-88.
32. DANESCU, R. AND NEDEVSCHI, S. 2008. Adaptive and robust road tracking system based on stereovision and particle filtering. In Proceedings of the 4th International Conference on Intelligent Computer Communication and Processing (ICCP08). 67-73.
33. DANESCU, R. AND NEDEVSCHI, S. 2009. Probabilistic lane tracking in difficult road scenarios using stereovision. IEEE Trans. Intell. Transport. Syst. 10, 2, 272-282.
34. DCRUZ, C. AND ZOU, J. J. 2007. Lane detection for driver assistance and intelligent vehicle applications. In Proceedings of the International Symposium on Communications and Information Technologies (ISCIT07). 1291-1296.
35. DEMENTHON, D. AND DAVIS, L. S. 1990. Reconstruction of a road by local image matches and global 3d optimization. In Proceedings of the IEEE International Conference on Robotics and Automation. 1337-1342.
36. DOBERT, A., LINARTH, A., AND KOLLORZ, E. 2009. Map guided lane detection. In Proceedings of the Embedded World Exhibition and Conference.
37. FANG, C.-Y., CHEN, S.-W., AND FUH, C.-S. 2003. Automatic change detection of driving environments in a vision based driver assistance systems. IEEE Trans. Neural Netw. 14, 3, 646-657.
38. FARDI, B., SCHEUNERT, U.,CRAMER, H., ANDWANIELIK, G. 2003. A new approach for lane departure identification. In Proceedings of the IEEE Intelligent Vehicles Symposium. 100-105.
39. FERNANDEZ-MALOIGNE, C. AND BONNET, W. 1995. Texture and neural network for segmentation. In Proceedings of the Intelligent Vehicles Symposium. 344-349.
40. FODA, S. G. AND DAWOUD, A. K. 2001. Highway lane boundary determination for autonomous navigation. In Proceedings of the IEEE Pacific Rim Conference on Communications, Computers and Signal Processing (PACRIM01). Vol. 2, 698-702.
41. FOEDISCH,M. AND TAKEUCHI, A. 2004a. Adaptive real time road detection using neural networks. In Proceedings of the IEEE Intelligent Transportation Systems Conference. 167-172.
42. FOEDISCH, M. AND TAKEUCHI, A. 2004b. Adaptive road detection through continuous environment learning. In Proceedings of the 33rd Applied Imagery Pattern Recognition Workshop. 16-21.
43. FOEDISCH, M.,MADHAVAN, R., AND SCHLENOFF, C. 2006. Symbolic road perception-based autonomous driving in urban environments. In Proceedings of the 35th IEEE Applied Imagery and Pattern RecognitionWorkshop (AIPR06). 12-17.
44. GAMEC, J. AND URDŹIK, D. 2008. Detection of driving space. Acta Electrotechnica et Informatica 8, 4, 60-63.
45. GAO, Q., LUO, Q., AND MOLI, S. 2007. Rough set based unstructured road detection through feature learning. In Proceedings of the IEEE International Conference on Automation and Logistics. 101-106.
46. GONZALEZ, J. P. AND OZGUNER, U. 2000. Lane detection using histogram-based segmentation and decision trees. In Proceedings of the IEEE Intelligent Transportation Systems Conference. 346-351.
47. GOPALAN, R., HONG, T., SHNEIER, M., AND CHELLAPPA, R. 2009. Video-Based Lane Detection Using Boosting Principles. Snowbird.
48. GRIMMER, D. AND LAKSHMANAN, S. 1994. Finding straight edges in radar images using deformable templates. In Proceedings of the 27th Conference on Information Sciences and Systems.
49. GUO, L., WANG, J., AND LI, K. 2006. Lane keeping system based on thasv-ii platform. In Proceedings of the IEEE International Conference on Vehicular Electronics and Safety (ICVES06). 305-308.
50. GUO, C. AND MITA, S. 2009. Drivable road region detection based on homography estimation with road appearance and driving state models. In Proceedings of the 4th International Conference on Autonomous Robots and Agents (ICARA09). 204-209.
51. HAGA, T., SASAKAWA, K., AND KURODA, S. 1995. The detection of lane boundary markings using the modified spoke filter. In Proceedings of the IEEE Intelligent Vehicles Symposium. 293-298.
52. HE, Y.,WANG, H., AND ZHANG, B. 2004. Color based road detection in urban traffic scenes. IEEE Trans. Intell. Transport. Syst. 5, 4, 309-318.
53. HE, Q. AND CHU, C.-H. H. 2007. Lane detection and tracking through affine rectification. In Proceedings of the IAPR Conference on Machine Vision Applications (MVA07). 536-539.
54. HILLEL, A. B., LERNER, R., LEVI, D., AND RAZ, G. 2012. Recent Progress in Road and Lane Detection: A Survey. Machine Vision and Applications, Springer.
55. HONG, T.-H., RASMUSSEN, C., CHANG, T., AND SHNEIER, M. 2002. Road detection and tracking for autonomous mobile robots. In Proceedings of the 16th SPIE Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls. Vol. 4715, 311-319.
56. HSIAO, P.-Y., CHENG, H.-C., YEH, C.-W., HUANG, S.-S., AND FU, L.-C. 2005. Automobile lane detection systemon-chip integrated with mixed signal mode cmos image sensor. In Proceedings of the 9th International Symposium on Consumer Electronics (ISCE05). 320-323.
57. HU, M., YANG, W., REN, M., AND YANG, J. 2004. A vision based road detection algorithm. In Proceedings of the IEEE Conference on Robotics, Automation and Mechatronics. Vol. 2, 846-850.
58. HUANG, C.-Y., HUANG, S.-S., CHAN, Y.-M., CHIU, Y.-H., FU, L.-C., AND HSIAO, P.-Y. 2007. Driver assistance system using integrated information from lane geometry and vehicle direction. In Proceedings of the International IEEE Intelligent Transportation Systems Conference. 986-991.
59. HUANG, S.-S., CHEN, C.-J., HSIAO, P.-Y., AND FU, L.-C. 2004. On-board vision system for lane recognition and front-vehicle detection to enhance drivers awareness. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA04). Vol. 3, 2456-2461.
60. HUET, F. AND MATTIOLI, J. 1996. A textural analysis by mathematical morphology transformations: Structural opening and top-hat. In Proceedings of the International Conference on Image Processing. Vol. 3, 49-52.
61. HUH, K., PARK, J., HONG, D., CHO, D., AND HYON PARK, J. 2004. Vision-based lane detection for passenger cars: Configuration aspects. In Proceedings of the American Control Conference. Vol. 1, 792-797.
62. ISA, K. 2008. Experimental studies on dynamics performance of lateral and longitudinal control for autonomous vehicle using image processing. In Proceedings of the 8th IEEE International Conference on Computer and Information Technology Workshops. 411-416.
63. ISHIKAWA, K., KOBAYASHI, K., AND WATANABE, K. 2003. A lane detection method for intelligent ground vehicle competition. In Proceedings of the SICE Annual Conference. Vol. 1, 1086-1089.
64. JAMAL, H.,SAMI-UD-DIN, ANDHABIB,H. A. 2005. Road boundary detection in night video sequence: a novel technique for autonomous vehicles. In Proceedings of the 17th International Conference on Microelectronics (ICM05). 264-267.
65. JEONG, P. AND NEDEVSCHI, S. 2003. Intelligent road detection based on local averaging classifier in real-time environments. In Proceedings of the 12th International Conference on Image Analysis and Processing (ICIAP03). 245-249.
66. JEONG, P. AND NEDEVSCHI, S. 2005. Efficient and robust classification method using combined feature vector for lane detection. IEEE Trans. Circ. Syst. Video Technol. 15, 4, 528-537.
67. JEONG, S. G., KIM, C. S., YOON, K. S., LEE, J. N., BAE, J. I., AND LEE, M. H. 2001. Real-Time lane detection for autonomous navigation. In Proceedings of the IEEE Intelligent Transportation Systems Conference. 508-513.
68. JIA, L., ZHEYING, L., AND TINGTING, C. 2007. Study on road recognition algorithm. In Proceedings of the 2nd IEEE Conference on Industrial Electronics and Applications (ICIEA07). 2539-2541.
69. JIANG, R., KLETTE, R., WANG, S., AND VAUDREY, T. 2009. Low-level image processing for lane detection and tracking. Multimedia Imaging Rep. 30, 42.
70. JUNG, C. R. AND KELBER, C. R. 2004. A robust linear-parabolic model for lane following. In Proceedings of the 17th Brazilian Symposium on Computer Graphics and Image Processing (SIGRAPI04). 72-79.
71. JUNG, C. R. AND KELBER, C. R. 2005. An improved linear-parabolic model for lane following and curve detection. In Proceedings of the 18th Brazilian Symposium on Computer Graphics and Image Processing (SIBGRAPI05). 131-138.
72. KANG, D. J., CHOI, J. W., AND KWEON, I. S. 1996. Finding and tracking road lanes using line-snakes. In Proceedings of the IEEE Intelligent Vehicles Symposium. 189-194.
73. KEARNS, M. 1988. Thoughts on hypothesis boosting. Unpublished manuscript, Project for Ron Rivests machine learning course at MIT. http://www.cis.upenn. edu/mkearns/papers/boostnote.pdf.
74. KIM, S., PARK, J.-H., CHO, S. I., PARK, S., LEE, K., AND CHOI, K. 2007. Robust lane detection for video-based navigation systems. In Proceedings of the 19th IEEE International Conference on Tools with Artificial Intelligence (ICTAI07). Vol. 2, 535-538.
75. KIM, Z. 2006. Real-time lane tracking of curved local road. In Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC06). 1149-1155.
76. KIM, Z. 2008. Robust lane detection and tracking in challenging scenarios. IEEE Trans. Intell. Transport. Syst. 9, 1, 16-26.
77. KLUGE, K. 1994. Extracting road curvature and orientation from image edge points without perceptual grouping into features. In Proceedings of the Intelligent Vehicles Symposium. 109-114.
78. KLUGE, K. AND LAKSHMANAN, S. 1995. A deformable-template approach to lane detection. In Proceedings of the Intelligent Vehicles Symposium. 54-59.
79. KO, S., GIM, S., PAN, C., KIM, J., AND PYUN, K. 2006. Road lane departure warning using optimal path finding of the dynamic programming. In Proceedings of the SICE-ICASE International Joint Conference. 2919-2923.
80. 2919-2923. KOLSKI, S., FERGUSON, D., BELLINO, M., AND SIEGWART, R. 2006. Autonomous driving in structured and unstructured environments. In Proceedings of the IEEE Intelligent Vehicles Symposium. 558-563.
81. KREUCHER, C. AND LAKSHMANAN, S. 1999. LANA: A lane extraction algorithm that uses frequency domain features. IEEE Trans. Robotics Autom. 15, 2, 343-350.
82. KREUCHER, C., LAKSHMANAN, S., AND KLUGE, K. 1998. A driver warning system based on the lois lane detection algorithm. In Proceedings of the IEEE International Conference on Intelligent Vehicles. Vol. 1, 17-22.
83. LABAYRADE, R., LENG, S. S., AND AUBERT, D. 2004. A reliable road lane detection approach combining two visionbased algorithms. In Proceedings of the IEEE Intelligent Transportation Systems Conference. 149-154.
84. LABAYRADE, R., DOURET, J., LANEURIT, J., AND CHAPUIS, R. 2005. A reliable and robust lane detection system based on the parallel use of three algorithms for driving safety assistance. In Proceedings of the IAPR Conference on Machine Vision Applications (MVA05). 398-401.
85. LABAYRADE, R., DOURET, J., AND AUBERT, D. 2006. A multi-model lane detector that handles road singularities. In Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC06). 1143-1148.
86. LAI, A. H. S. AND YUNG, N. H. C. 2000. Lane detection by orientation and length discrimination. IEEE Trans. Syst. Man Cybernet. Part B Cybernet. 30, 4, 539-548.
87. LEE, W. 2002. A machine vision system for lane-departure detection. Comput. Vis. Image Understand. 86, 1, 52-78.
88. LI, Q., ZHENG, N., AND CHENG, H. 2004. Lane boundary detection using an adaptive randomized hough transform. In Proceedings of the 5th World Congress on Intelligent Control and Automation (WCICA04). Vol. 5, 4084-4088.
89. LIATSIS, P., GOULERMAS, J. Y., AND KATSANDE, P. 2003. A novel lane support framework for vision-based vehicle guidance. In Proceedings of the IEEE International Conference on Industrial Technology. Vol. 2, 936-941.
90. LIEB, D., LOOKINGBILL, A., AND THRUN, S. 2005. Adaptive road following using self-supervised learning and reverse optical flow. In Proceedings of the Robotics: Science and Systems.
91. LIN, H., KO, S., KIM, H., AND KIM, Y. 2007a. Road boundary detection with double filtering for intelligent vehicle. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO07). 686-690.
92. LIN, H., KIM, H., LIN, C.-S., AND CHUA, L. O. 2007b. Road boundary detection based on the dynamic programming and the randomized hough transform. In Proceedings of the International Symposium on Information Technology Convergence (ISITC07). 63-70.
93. LIN,H.,KO, S.,SHI,W.,KIM, Y., ANDKIM,H. 2007c. Lane departure identification on highway with searching the region of interest on hough space. In Proceedings of the International Conference on Control, Automation and Systems (ICCAS07). 1088-1091.
94. LIPSKI, C., SCHOLZ, B., BERGER, K., LINZ, C., STICH, T., AND MAGNOR, M. 2008. A fast and robust approach to lane marking detection and lane tracking. In Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation (SSIAI08). 57-60.
95. LIU, H.-J., GUO, Z.-B., LU, J.-F., AND YANG, J.-Y. 2006. A fast method for vanishing point estimation and tracking and its application in road images. In Proceedings of the 6th International Conference on ITS Telecommunications. 106-109.
96. LIU, J., LI, Z., ZHANG, H., AND LV, C. 2008a. A vision-based road recognition algorithm. In Proceedings of the 3rd IEEE Conference on Industrial Electronics and Applications (ICIEA08). 284-287.
97. LIU, J.-F., SU, Y.-F., KO, M.-K., AND YU, P.-N. 2008b. Development of a vision-based driver assistance system with lane departure warning and forward collision warning functions. In Proceedings of the Digital Image Computing: Techniques and Applications (DICTA08). 480-485.
98. LOMBARDI, P., ZANIN, M., AND MESSELODI, S. 2005. Switching models for vision-based on-board road detection. In Proceedings of the 8th IEEE International Conference on Intelligent Transportation Systems. 67-72.
99. LOPEZ, A., CANERO, C., SERRAT, J., SALUDES, J., LUMBRERAS, F., AND GRAF, T. 2005a. Detection of lane markings based on ridgeness and ransac. In Proceedings of the 8th International IEEE Conference on Intelligent Transportation Systems. 254-259.
100. ĹOPEZ, A., SERRAT, J., SALUDES, J., CANERO, C., LUMBRERAS, F., AND GRAF, T. 2005b. Ridgeness for detecting lane markings. In Proceedings of the 2nd International Workshop on Intelligent Transportation Systems (WIT05). 65-69.
101. LU, J., YANG, M., WANG, H., AND ZHANG, B. 2002. Vision-based real time road detection in urban traffic. In Proceedings of the 6th SPIE Conference on Real Time Imaging. Vol. 4666, 75-82.
102. LU, W. WANG, H., AND WANG, Q. 2007. A synchronous detection of the road boundary and lane marking for intelligent vehicles. In Proceedings of the 8th ACIS International Conference on Software Engineering, Artificial Intelligence, Networking, and Parallel/Distributed Computing (SNPD07). Vol. 1, 741-745.
103. LU, W., ZHENG, Y., MA, Y. Q., AND LIU, T. 2008. An integrated approach to recognition of lane marking and road boundary. In Proceedings of the International Workshop on Knowledge Discovery and Data Mining (WKDD08). 649-653.
104. LU, B., MIAO, C., AND WANG, H. 2009. Lane mark detection with active contour for gradient domain. In Proceedings of the IITA International Conference on Control, Automation and Systems Engineering (CASE09). 591-594.
105. LUETZELER, M. AND DICKMANNS, E. 1998. Road recognition with marveye. In Proceedings of the IEEE International Conference on Intelligent Vehicles. 314-346.
106. MA, B., LAKSHMANAN, S., AND HERO, A. 2000. Pavement boundary detection via circular shape models. In Proceedings of the IEEE Intelligent Vehicles Symposium. 644-649.
107. MA, B., LAKSHMANAN, S., AND HERO, A. 2001. A robust bayesian multisensor fusion algorithm for joint lane and pavement boundary detection. In Proceedings of the International Conference on Image Processing. Vol. 1, 762-765.
108. MA, L., ZHENG, N.-N., MU, F., AND CHENG, H. 2005. Scene slice analysis based lane detection and tracking. In Proceedings of the IEEE International Conference on Vehicular Electronics and Safety. 281-284.
109. MACEK, K.,WILLIAMS, B.,KOLSKI, S., AND SIEGWART, R. 2004. A lane detection visionmodule for driver assistance. In Proceedings of the IEEE International Conference on Mechatronics and Robotics (MechRob04).
110. MAEDA, T.,HU, Z.,WANG, C., AND UCHIMURA, K. 2008. High-speed lane detection for road geometry estimation and vehicle localization. In Proceedings of the SICE Annual Conference.860-868.
111. MCCALL, J. C. AND TRIVEDI, M. M. 2006. Video-based lane estimation and tracking for driver assistance: Survey, system, and evaluation. IEEE Trans. Intell. Transport. Syst. 7, 1, 20-37.
112. MICHALKE, T., KASTNER, R., FRITSCH, J., AND GOERICK, C. 2008. A generic temporal integration approach for enhancing feature-based road-detection systems. In Proceedings of the 11th IEEE International Conference on Intelligent Transportation Systems (ITSC08). 657-663.
113. MICHALKE, T.,KASTNER, R.,HERBERT, M.,FRITSCH, J., AND GOERICK, C. 2009. Adaptivemulti-cue fusion for robust detection of unmarked inner-city streets. In Proceedings of the IEEE Intelligent Vehicles Symposium. 1-8.
114. MORI, R., KOBAYASHI, K., AND WATANABE, K. 2004. Hough-based robust lane boundary detection for the omnidirectional camera. In Proceedings of the SICE Annual Conference. Vol. 3, 2113-2117.
115. MU, X., BEUCHER, S., AND BILODEAU, M. 1992. Road tracking, lane segmentation and obstacle recognition by mathematical morphology. In Proceedings of the Intelligent Vehicles Symposium. 166-170.
116. NASIRUDIN, M. A. AND ARSHAD, M. R. 2007. A feature-based lane detection system using hough transform method. In Proceedings of the 8th Seminar on Intelligent Technology and Its Applications (SITIA07).
117. NEDEVSCHI, S., SCHMIDT, R., GRAF, T., DANESCU, R., FRENTIU, D., MARITA, T., ONIGA, F., AND POCOL, C. 2004. 3D lane detection system based on stereovision. In Proceedings of the 7th IEEE International Conference on Intelligent Transportation Systems. 161-166.
118. NEDEVSCHI, S., ONIGA, F., DANESCU, R., GRAF, T., AND SCHMIDT, R. 2006. Increased accuracy stereo approach for 3d lane detection. In Proceedings of the IEEE Intelligent Vehicles Symposium. 42-49.
119. NETO, A. M. AND RITTNER, L. 2006. A simple and efficient road detection algorithm for real time autonomous navigation based on monocular vision. In Proceedings of the IEEE 3rd Latin American Robotics Symposium (LARS06). 92-99.
120. NIETO, M., SALGADO, L., JAUREGUIZAR, F., AND ARROSPIDE, J. 2008. Robust multiple lane road modeling based on perspective analysis. In Proceedings of the 15th IEEE International Conference on Image Processing (ICIP08). 2396-2399.
121. PAN, S. AND AN, X. 2008. Content-based auto exposure control for on-board cmos camera. In Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems (ITSC08). 772-777.
122. PARK, S. T.,YANG, S. Y., AND JUNG, J. H. 2000. Real-time lane recognition by simulated annealing algorithm. In Proceedings of the 4th Korea-Russia International Symposium on Science and Technology (KORUS00). Vol. 3, 95-98.
123. POMERLEOU, D. 1995. RALPH: Rapidly adapting lateral position handler. In Proceedings of the Intelligent Vehicles Symposium. 506-511.
124. PROCHAZKA, Z. 2008. Road region segmentation based on sequential monte-carlo estimation. In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV08). 1305-1310.
125. RASMUSSEN, C. 2002. Combining laser range, color and texture cues for autonomous road following. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA02). Vol. 4, 4320-4325.
126. RASMUSSEN, C. 2004. Grouping dominant orientations for ill-structured road following. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR04). Vol. 1, 470-477.
127. REN, F.,HUANG, J., TERAUCHI, M., JIANG, R., AND KLETTE, R. 2009. Lane detection on the iphone. In Proceedings of the 1st International Conference on Arts and Technology, Revised Selected Papers (ArtsIT09).Springer, 198-205.
128. RISACK, R., KLAUSMANN, P., KRUGER, W., AND ENKELMANN, W. 1998. Robust lane recognition embedded in a real-time driver assistance system. In Proceedings of the IEEE International Conference on Intelligent Vehicles. Vol. 1, 35-40.
129. ROTARU, C., GRAF, T., AND JIANWEI, Z. 2004. Extracting road features from color images using a cognitive approach. In Proceedings of the IEEE Intelligent Vehicles Symposium. 298-303.
130. ROUTRAY, A. AND MOHANTY, K. B. 2007. A fast edge detection algorithm for road boundary extraction under nonuniform light condition. In Proceedings of the 10th International Conference on Information Technology (ICIT07). 38-40.
131. SAMADZADEGAN, F., SARAFRAZ, A., AND TABIBI, M. 2006. Automatic lane detection in image sequences for visionbased navigation purposes. In Proceedings of the ISPRS Commission V Symposium on Image Engineering and Vision Metrology. Vol. 36, 25-27.
132. SAUDI, A., TEO, J., HANAFI, M., HIJAZI, A., AND SULAIMAN, J. 2008. Fast lane detection with randomized hough transform. In Proceedings of the International Symposium on Information Technology (ITSim08). Vol. 4, 1-5.
133. SCHREIBER, D., ALEFS, B., AND CLABIAN, M. 2005. Single camera lane detection and tracking. In Proceedings of the 8th International IEEE Conference on Intelligent Transportation Systems. 302-307.
134. SEHESTEDT, S.,KODAGODA, S., ALEMPIJEVIC, A., AND DISSANAYAKE, G. 2007a. Efficient lane detection and tracking in urban environments. In Proceedings of the 3rd European Conference on Mobile Robots (ECMR07). 126-131.
135. SEHESTEDT, S., KODAGODA, S., ALEMPIJEVIC, A., AND DISSANAYAKE, G. 2007b. Robust lane detection in urban environments. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS07). 123-128.
136. SHA, Y., YU, X., AND ZHANG, G. 2008. A feature selection algorithm based on boosting for road detection. In Proceedings of the 5th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD08). Vol. 2, 257-261.
137. SHA, Y., ZHANG, G., AND YANG, Y. 2007. A road detection algorithm by boosting using feature combination. In Proceedings of the IEEE Intelligent Vehicles Symposium. 364-368.
138. SHI, Y., RANIGA, P., AND MOHAMED, I. 2006. A smart camera for multimodal human computer interaction. In Proceedings of the IEEE 10th International Symposium on Consumer Electronics (ISCE06). 1-6.
139. SHIHAVUDDIN, A. S. M., AHMED, K., MUNIR, S., AND AHMED, K. R. 2008. Road boundary detection by a remote vehicle using radon transform for path map generation of an unknown area. Int. J. Comput. Sci. Netw. Secur. 8, 8, 64-69.
140. SHIMOMURA, N., FUJIMOTO, K.,OKI, T., AND MURO, H. 2002. An algorithm for distinguishing the types of objects on the road using laser radar and vision. IEEE Trans. Intell. Transport. Syst. 3, 3, 189-195.
141. SHU, Y. AND TAN, Z. 2004. Vision based lane detection in autonomous vehicle. In Proceedings of the 5th World Congress on Intelligent Control and Automation (WCICA04). Vol. 6, 5258-5260.
142. SON, T. T., MITA, S., AND TAKEUCHI, A. 2008. Road detection using segmentation by weighted aggregation based on visual information and a posteriori probability of road regions. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (SMC08). 3018-3025.
143. SOQUET, N., AUBERT, D., AND HAUTIERE, N. 2007. Road segmentation supervised by an extended v-disparity algorithm for autonomous navigation. In Proceedings of the IEEE Intelligent Vehicles Symposium. 160-165.
144. SUCHITRA, S. S., SATZODA, R. K., AND SRIKANTHAN, T. 2009. Exploiting inherent parallelisms for accelerating linear hough transform. IEEE Trans. Image Process. 18, 10, 2255-2264.
145. SUN, T.-Y., TSAI, S.-J., AND CHAN, V. 2006. HSI color model based lane-marking detection. In Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC06). 1168-1172.
146. TAKAHASHI, A. AND NINOMIYA, Y. 1996. Model-based lane recognition. In Proceedings of the IEEE Intelligent Vehicles Symposium. 201-206.
147. TANG, G., LIU, X., LIU, X., AND YANG, H. 2002. A road boundary detection method for autonomous land vehicle. In Proceedings of the 4th World Congress on Intelligent Control and Automation. Vol. 4, 2949-2951.
148. TAREL, J.-P. AND GUICHARD, F. 2000. Combined dynamic tracking and road recognition of curves with application to road detection. In Proceedings of the International Conference on Image Processing. Proceedings. Vol. 1, 216-219.
149. TIAN, M., LIU, F., AND HU, Z. 2006a. Single camera 3d lane detection and tracking based on ekf for urban intelligent vehicle. In Proceedings of the IEEE International Conference on Vehicular Electronics and Safety (ICVES06). 413-418.
150. TIAN,M.,LIU, F.,ZHU,W., AND XU, C. 2006b. Vision based lane detection for active security in intelligent vehicle. In Proceedings of the IEEE International Conference on Vehicular Electronics and Safety (ICVES06). 507-511.
151. TRUONG, Q.-B. AND LEE, B.-R. 2008. New lane detection algorithm for autonomous vehicles using computer vision. In Proceedings of the International Conference on Control, Automation and Systems (ICCAS08). 1208-1213.
152. TRUONG, Q.-B., LEE, B. R., HEO, N. G., YUM, Y. J., AND KIM, J. G. 2008. Lane boundaries detection algorithm using vector lane concept. In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV08). 2319-2325.
153. TSAI, S.-J. AND SUN, T.-Y. 2005. The robust and fast approach for vision-based shadowy road boundary detection. In Proceedings of the 8th International IEEE Congress on Intelligent Transportation Systems. 486-491.
154. TSAI, J.-F., HUANG, S.-S., CHAN, Y.-M., HUANG, C.-Y., FU, L.-C., AND HSIAO, P.-Y. 2006. Road detection and classification in urban environments using conditional random field models. In Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC06). 963-967.
155. TSAI, L.-W., HSIEH, J.-W., CHUANG, C.-H., AND FAN, K.-C. 2008. Lane detection using directional random walks. In Proceedings of the IEEE Intelligent Vehicles Symposium. 303-306.
156. TSOGAS, M., POLYCHRONOPOULOS, A., AND AMDITIS, A. 2007. Using digital maps to enhance lane keeping support systems. In Proceedings of the IEEE Intelligent Vehicles Symposium. 148-153.
157. TSUJI, M. 2001. Estimation of road configuration and vehicle attitude by lane detection for a lane-keeping system. In Proceedings of the SAE World Congress. 45-51.
158. VACEK, S., SCHIMMEL, C., AND DILLMANN R. 2007. Road-marking for autonomous vehicle guidance. In Proceedings of the 3rd European Conference on Mobile Robots.
159. VEIT, T., TAREL, J.-P., NICOLLE, P., AND CHARBONNIER, P. 2008. Evaluation of road marking feature extraction. In Proceedings of the IEEE Conference on Intelligent Transportation Systems (ITSC08). 174-181.
160. WANG, Y., SHEN, D., AND TEOH, E. K. 1998. Lane detection using catmull-rom spline. In Proceedings of the IEEE International Conference on Intelligent Vehicles. Vol. 1, 51-57.
161. WANG, R., XU, Y., LIBIN, AND ZHAO, Y. 2002. A vision based road edge detection algorithm. In Proceedings of the IEEE Intelligent Vehicles Symposium. Vol. 1, 141-147.
162. WANG, Y., TEOH, E. K., AND SHEN, D. 2004. Lane detection and tracking using b-snake. Image Vis. Comput. 22, 4, 269-280.
163. WANG, C.-C., HUANG, S.-S. FU, L.-C., AND HSIAO, P.-Y. 2005. Driver assistance system for lane detection and vehicle recognition with night vision. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots
164. WANG, H. AND CHEN, Q. 2006. Real-time lane detection in various conditions and night cases. In Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC06). 1226-1231.
165. WANG, Y., BAI, L., AND FAIRHURST, M. 2008a. Robust road modeling and tracking using condensation. IEEE Trans. Intell. Transport. Syst. 9, 4, 570-579.
166. WANG, Y., CHENA, D., AND SHI, C. 2008b. Vision-based road detection by adaptive region segmentation and edge constraint. In Proceedings of the 2nd International Symposium on Intelligent Information Technology Application (IITA08). Vol. 1, 342-346.
167. WANG, Y., DAHNOUN, N., AND ACHIM, A. 2009. A novel lane feature extraction algorithm implemented on the tms320dm6437 dsp platform. In Proceedings of the 16th International Conference on Digital Signal Processing. 1-6.
168. WATANABE, A., NAITO, T., AND NINOMIYA, Y. 2009. Lane detection with roadside structure using on-board monocular camera. In Proceedings of the IEEE Intelligent Vehicles Symposium. 191-196.
169. WEIGEL, H. AND WANIELIK, G. 2009. Simultaneous estimation of vehicle dynamics and lane features for road safety applications. In Proceedings of the 12th International Conference on Information Fusion (FUSION 09). 1512-1519.
170. WEN Q., YANG, Z., SONG, Y., AND JIA, P. 2008. Road boundary detection in complex urban environment based on low-resolution vision. In Proceedings of the 11th Joint Conference on Information Sciences (JCIS08).
171. WIJESOMA, W. S., KODAGODA, K. R. S., BALASURIYA, A. P., AND TEOH, E. K. 2001. Road edge and lane boundary detection using laser and vision. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 3, 1440-1445.
172. WU, B., LIN, C., AND CHEN, Y. 2009. Dynamic calibration and occlusion handling algorithms for lane tracking. IEEE Trans. Industr. Electron. 56, 5, 1757-1773.
173. WU, B.-F. AND LIN, C.-T. 2007. Robust lane detection and tracking for driving assistance systems. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (ISIC07). 3848-3853.
174. XINYU, Z. AND ZHONGKE, S. 2009. Study on lane boundary detection in night scene. In Proceedings of the IEEE Intelligent Vehicles Symposium. 538-541.
175. YIM, Y. U. AND OH, S.-Y. 2003. Three-feature based automatic lane detection algorithm (tfalda) for autonomous driving. IEEE Trans. Intell. Transpot. Syst. 4, 4, 219-225.
176. YOU, F.,WANG, R.-B., AND ZHANG, R.-H. 2008. Research on road recognition algorithm based on structure environment for its. In Proceedings of the ISECS International Colloquium on Computing, Communication, Control, and Management (CCCM 08). Vol. 1, 84-87.
177. YU, B. AND JAIN, A. K. 1997. Lane boundary detection using a multiresolution hough transform. In Proceedings of the International Conference on Image Processing. Vol. 2, 748-751.
178. YU, B., ZHANG, W., AND CAI, Y. 2008a. A lane departure warning system based on machine vision. In Proceedings of the IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application (PACIIA08). Vol. 1, 197-201.
179. YU, J., HAN, Y., AND HAHN, H. 2008b. An efficient extraction of on-road object and lane information using representation method. In Proceedings of the IEEE International Conference on Signal Image Technology and Internet Based Systems (SITIS08). 327-332.
180. YU B. AND ZHANG,W. 2009. A robust approach of lane detection based on machine vision. In Proceedings of the IITA International Conference on Control, Automation and Systems Engineering (CASE09). 195-198.
181. ZHANG, J. AND NAGEL, H.-H. 1994. Texture based segmentation of road images. In Proceedings of the Intelligent Vehicles Symposium. 260-265.
182. ZHANG, H.,HOU, D., AND ZHOU, Z. 2005. A novel lane detection algorithm based on support vector machine. In Proceedings of the Progress in Electromagnetics Research Symposium. Vol. 1, 390-394.
183. ZHENG, B., TIAN, B., DUAN, J., AND GAO, D. 2008. Automatic detection technique of preceding lane and vehicle. In Proceedings of the IEEE International Conference on Automation and Logistics (ICAL08). 1370-1375.
184. ZHOU, Y., XU, R., HU, X., AND YE, Q. 2006. A robust lane detection and tracking method based on computer vision. Measur. Sci. Technol. 17, 4, 736-745.
185. ZHU, W., CHEN, Q., AND WANG, H. 2006. Lane detection in some complex conditions. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 117-122.
186. ZHU, W., LIU, F., LI, Z.,WANG, X., AND ZHANG, S. 2008. A vision based lane detection and tracking algorithm in automatic drive. In Proceedings of the IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application (PACIIA08). Vol. 1, 799-803.