@inproceedings{6d8f66ab476d4c53a14069d4fee28dbd,
title = "Multilane detection and tracking based on binocular vision stixel world estimation and IPM",
abstract = "Road detection is the basic component of many intelligent vehicle systems. In this paper, a robust multi-lane detection method based on binocular vision is proposed. First, a fast estimation technique of the Stixel World, which is the outside environment representation of stereo-vision, is developed. Taking advantage of the estimate for free space under the plane road hypothesis, the proposed method is robust against on-road obstacles when detecting lane markings. Then, the bird-view of the transitable area is obtained through Inverse Perspective Mapping (IPM) Transform; Steerable filter, parallel parabolas modal and RANdom SAmple Consensus (RANSAC) technique are introduced for multi-lane fitting. Experimental results in real urban driving situations indicate that our algorithm is robust under various conditions.",
keywords = "Binocular vision, Multilane detection and tracking, RANSAC, Stixel World",
author = "Jing Li and Junzheng Wang and Guangtao Cui",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8865284",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4602--4607",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "United States",
}