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| Novel lane detection algorithm based on multi-feature fusion and windows searching |
| 1. School of Artificial Intelligence, Nanjing University of Information Science and Technology, Nanjing, Jiangsu 210044, China; 2. Faculty of Computer and Software Engineering, Huaiyin Institute of Technology, Huaian, Jiangsu 223001, China |
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Abstract To solve the problem that the existing lane detection algorithms were difficult to balance accuracy and real-time performance, a novel lane detection algorithm was proposed based on multi-feature fusion and windows searching. The polygon filling method was used to determine the region of interest (ROI) of the lane lines, and the color, histogram and gradient features of the lane lines were fused to eliminate the complex background in the ROI. The binary image of the lane lines was obtained by homography transformation, and the initial position of the lane lines was determined based on the pixel density distribution. The entire candidate pixel points along the lane line were extracted by the window-based searching method, and a mathematical model of the lane line was constructed by fitting the extracted pixels. The results show that the proposed algorithm has high accuracy and real-time performance, and the algorithm has excellent robustness to various factors of yellow lane lines, tree shade obstruction, illumination changes, missing lane lines and interference from ground traffic signs.
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Received: 21 October 2021
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2023, Vol. 44 
