Abstract
This paper proposes an ultra-low complexity block-based lane detection and departure warning system. Based on the distribution of the lane markings in the region close to the vehicle, a parameterized region of interest (ROI) is determined. The lane markings in the ROI are enhanced by increasing the pixel intensity for detection in various environmental conditions. To reduce the computational burden, the ROI is partitioned into non-overlapping blocks and two simplified masks are proposed to obtain the block gradients and block angles. The driving conditions are classified into four classes to simplify the lane detection process and the proposed lane departure warning system is based on the lane detection results. The experimental results reveal that the average lane detection rate and the departure warning rate are 96.12% and 98.60%, respectively. With a $1920\times 1080$ resolution, the average processing time is 4.28 ms per frame.
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