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Annealed particle filter algorithm used for lane detection and tracking

This paper describes a lane detection and tracking method based on annealed particle filter algorithm, which combines multiple cues with annealed particle filter. As a first step, preprocessing, with bar filter and color cues being used. In the annealed particle filter step, angle information of edge map is utilized to measure weights of particles. | Journal of Automation and Control Engineering, Vol. 1, No. 1, March 2013 Annealed Particle Filter Algorithm Used for Lane Detection and Tracking Hongying Zhao, Zhu Teng, Hong-Hyun Kim, and Dong-Joong Kang School of Mechanical Engineering, Pusan National University, Busan, Korea zhy19880801@ hotmail.com, {magiebamboo, djkang}@pusan.ac.kr Abstract—This paper describes a lane detection and tracking method based on annealed particle filter algorithm, which combines multiple cues with annealed particle filter. As a first step, preprocessing, with bar filter and color cues being used. In the annealed particle filter step, angle information of edge map is utilized to measure weights of particles. Experiments show that the time cost of annealed particle filter algorithm for each frame is largely reduced comparing with the lane detection and tracking using conventional particle filter algorithm, which is the main contribution of this paper. Furthermore, on this basis, we build a robust lane model which can be applied to not only the linear road but also the curved road. The experiments indicate that it is effective for lane detection and tracking. which can be applied to detect and track the lanes of not only the linear road but also the curved road. The test results show that it is effective. II. PROCESSING-MULTIPLE CUES In the preprocessing step, multiple cues, including bar filter and the color cue, are processed separately before using annealed particle filter (show in Fig.1(d)). Index Terms—lane detection and tracking, multiple cues, annealed particle filter, robust lane model. I. INTRODUCTION People have a growing interest for driver assistant systems that are used to monitor the driving conditions by visual technique, and warn and guide drivers the road conditions. Lane marker is one of the most important road signs, which makes lane detection a necessary part for driver assistant system and unmanned vehicle. For several decades, lane detection and tracking