A Method for Robust Lane Marking Candidate Selection of Lane Recognition

摘要

Similar lane marking patterns are captured in the images of rainy roads because of surface reflections, result- ing in false selection of lane marking candidates and giving rise to problems due to estimation errors. The authors applied lane structure heuristics, a method of improving robustness by reducing false selection of similar patterns, to lane marking candidate selection. The effectiveness of the proposed method was confirmed by applying the method to experiments with real images of rainy highway and comparing the results with those obtained by LmedS estimation.