Abstract
In this article, we present a system for robust lane detection and tracking. The proposed algorithm has two main parts. The first one is for lane detection using the Sobel operator with an adaptive threshold and the Hough transform, and the second part deals with lane tracking using the Kalman filter. To meet real time requirements, we use gradient directions of edge stage to simplify CORDIC algorithm. The obtained results show that the proposed algorithm can reliably detect and track lanes in different illumination condition.
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