Abstract
We propose a novel vision-based lane departure warning algorithm. The initial step of lane departure warning system is lane detection. In this paper, we present a lane detection method based on template matching. Kalman filtering is used to track the detected lanes. To make the algorithm robust to shadows, inpainting technique is done on regions with shadows. The curved lanes are handled with the help of Bezier spline fitting. Our algorithm determines the lane departure based on vanishing point margins. Experimental results show that the proposed method performs better than Caltech lane detection algorithm.
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