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Lane Detection Using Hough Transform: By: Rajendra I Huddar Guide: Prof. Savitri Raju March 15 2010 Dept. of ECE, SDMCET

The document describes a lane detection algorithm using Hough transform. It begins with an overview of color and grayscale images, histograms, histogram equalization, pixel subtraction, and edge detection. It then discusses the Hough transform and a lane detection algorithm that uses background subtraction to improve edge detection, applies Hough transform to detect lines, and analyzes line clusters to identify lane markings. The algorithm is shown to work well on straight lanes but would need improvement for more complex cases. It concludes by discussing applications for lane detection and references used.

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60 views38 pages

Lane Detection Using Hough Transform: By: Rajendra I Huddar Guide: Prof. Savitri Raju March 15 2010 Dept. of ECE, SDMCET

The document describes a lane detection algorithm using Hough transform. It begins with an overview of color and grayscale images, histograms, histogram equalization, pixel subtraction, and edge detection. It then discusses the Hough transform and a lane detection algorithm that uses background subtraction to improve edge detection, applies Hough transform to detect lines, and analyzes line clusters to identify lane markings. The algorithm is shown to work well on straight lanes but would need improvement for more complex cases. It concludes by discussing applications for lane detection and references used.

Uploaded by

Mallappa Patil
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Lane Detection using Hough

Transform
By: Rajendra I Huddar
Guide: Prof. Savitri Raju
March 15 2010
Dept. of ECE, SDMCET
Overview
 INTRODUCTION
  COLOUR & GRAY SCALE IMAGE
  HISTOGRAM &  HISTOGRAM EQUALIZATION
  PIXEL SUBTRACTION
  EDGE DETECTION
  HOUGH TRANSFORM
  LANE DETECTION ALGORITHM
  APPLICATIONS
  CONCLUSION
COLOR IMAGE

 Color images are often built of several stacked color channels,


each of them representing value levels of the given channel.
For example, RGB images are composed of three independent
channels for red, green and blue primary color components.
COLOR IMAGE
GRAY SCALE IMAGE
Histogram

No. of pixels
2 3 3 2 6
5
4 2 4 3
4
3 2 3 5 3
2
2 4 2 4 1 Gray level
4x4 image
Gray scale = [0,9]
0 1 2 3 4 5 6 7 8 9
histogram
Example

Dark image

Components of
histogram are
concentrated on the
low side of the gray
scale.
Bright image

Components of
histogram are
concentrated on the
high side of the gray
scale.
Example

Low contrast image

Components of
histogram are
concentrated on the
middle of the gray
scale.
High contrast image

Components of
histogram are
distributed on the
entire gray scale.
Histogram Equalization

 low-contrast image’s histogramnarrow,


centered toward the middle of the gray scale.

 Adjusting the probability density function 


improves image quality.
Result of Histogram Equalization

Before After
Result of Histogram Equalization

Before After
Result of Histogram Equalization

Before After
Pixel subtraction

 The subtraction of two images is performed straightforwardly in


a single pass. The output pixel values are given by:

 If the operator computes absolute differences between the two


input images then:

 if it is simply desired to subtract a constant value C from a


single image then:
Result of Pixel subtraction

=
Edge Detection

 This process detects outlines of an object


and boundaries between objects and the
background in the image.
Result of Edge Detection

Subtracted image Edge detected output


Result of Edge Detection

Subtracted image Edge detected output


Hough Transform

 The binary image obtained is passed through Hough


transform to get Hough lines. Hough lines helps to
detect the lane markings on the road.
Hough Transform

 The line equation is :

-ρ is the distance from the origin to the line, and


-θ is the angle between the axis x and the perpendicular to the line
vector that points from the origin to the line.
LANE DETECTION ALGORITHM
Algorithm Introduction

 Some lane detection algorithms


Edge-based, Deformable-template,
B-snake…
Approach (Edge-based)

 Step 1: Get the edge information


 Step 2: Hough Transform
 Step 3: Search out the lane marking candidates
 Step 4: Decide the lane marking
Approach contd…

 Step 1: Get the edge information

Lost many edges


Approach contd…..

 Step 1: Get the edge information (cont.)

Use global histogram to find the background gray


range and subtract it from the original image

Compare these images

Edges are preserved Edge operation


using background
subtraction method
Approach contd….

 Step 2: Hough Transform

1. An array [  is
][ ]used to count how
many pixels belong to the line through
Hough Transform.

2. Another restriction is added:


  10, 30    150
Avoid detecting the fake lane markings
Approach

 Step 3: Search out the lane marking candidates


University Ave. Loop 4 in Beijing

1. The red lines are the first 20 lines which have the biggest count numbers in Hough parameter
space.

2. For each lane marking in the real scene, there are many line candidates around it.

3. There are some fake lines caused by the vehicle queue.


Approach

 Step 4: Decide the lane marking


1. Sort the candidate lines by their position
from left to right

2. Around each line cluster, choose the


candidate which has the biggest count
number as the lane marking in real scene

3. Delete the fake lane marking candidates

4. Calculate the mid-line of each lane


(shown as green lines)
Result

There is a little offset between the detected


lane marking and that in real scene.
This is because the lane is not completely
straight and the lane mark is broken in the scene. This is a nice result
Discussion (effect of scratches 1)

University Ave. Edge image Without restriction to 

Restrict  Decide the lane markings Detected lane markings


Discussion (effect of scratches 2)

University Ave. Restrict 

Note:
Because lots of the edge
information for the left lane
marking are lost, there is an
offset between the detected
lane marking and that in the
real scene

Decide the lane markings Detected lane markings


Application of lane detection :

1. Lane Departure Warning


2. Intelligent cruise control
3. Autonomous driving …
LDW System
Lane Departure Warning
system can prevent accidents?

300

250

200

150

100

50

0
Yes No
Has the system helped you become a better/safer driver?

250

200

150

100

50

0
Yes No
Conclusion

 Alg. works well for these straight lane cases.


 Key methods includes:
Find the background gray range, background subtraction, edge detection,
Hough Transform, find the lane marking candidates, sort the lane marking
candidates, group the cluster lines as one line, delete fake lines and calculate
the mid-line of each lane.

 More complicate case (future work)


Consider other methods, like deformable-template, multi-resolution Hough
Transform, B-snake, multi-sensor fusion .
References

 Rafael C Gonzalez,, U; “Digital Image processing,


second edition”,low price edition 2005.
 B.Chanda; D.Dutta Majumder “Digital Image
processing and analysis”,eastern economy
edition,2008.
 Gonzalez, J.P.; Ozguner, U; “Lane detection using
histogram-based segmentation and decision trees”
THANK YOU………………

ANY QUERIES????

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