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	Lane detection method based on segment-line model and ATN
	Hu Bin ; He Kezhong
	2010-05-06 ; 2010-05-06
关键词	Practical/ automated highways mobile robots object detection traffic engineering computing/ lane detection method outdoor mobile robots augmented transition networks segment-line road model dynamic bi-threshold algorithm binary image ATN-based image analysis method TsingHua mobile robot-V/ C7445 Traffic engineering computing C3360B Road-traffic system control C3390C Mobile robots C5260B Computer vision and image processing techniques
中文摘要	A high speed lane detection method that satisfies the safety requirements of outdoor mobile robots was developed based on the segment-line road model and augmented transition networks (ATN). After using a segment-line model to describe the lane marks, the lane detection phase uses a dynamic bi-threshold algorithm to get a binary image from original picture. The ATN-based image analysis method is then used to recognize the lane lines. The TsingHua mobile robot-V (THMR-V) system using this method has achieved a maximum automatic driving speed of 150 km/h on highways. Stable performance in various types of weather and road conditions has shown the robustness of the system.
语种	中文 ; 中文
出版者	Tsinghua Univ. Press ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/11037]
专题	清华大学
推荐引用方式 GB/T 7714	Hu Bin,He Kezhong. Lane detection method based on segment-line model and ATN[J],2010, 2010.
APA	Hu Bin,&He Kezhong.(2010).Lane detection method based on segment-line model and ATN..
MLA	Hu Bin,et al."Lane detection method based on segment-line model and ATN".(2010).

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