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22bce11659 Lane Line Protection A4

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22 views10 pages

22bce11659 Lane Line Protection A4

Uploaded by

devdattapatilwork
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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LANE LINE

DECTECTION
WHILE DRIVING

PATIL DEVDATTA PATIL(22BCE11659)


OVERVIEW
INTRODUCTION
Advanced Driving Assistance Systems (ADAS) require the ability to model the shape of road lanes
and
localize the vehicle with respect to the road. Although, the main reason to build intelligent vehicles is
to
improve the safety conditions by the entire or partial automation of driving tasks. Among these
tasks, the road
detection took an important role in driving assistance systems that provides information such as lane
structure
and vehicle position relative to the lane. However, vehicle crashes remains the leading cause of
accident death
and injuries in Malaysia and Asian countries which claiming tens of thousands of lives and injuring
millions
of people each year.
LANE LINE DECTECTION
PROCESS
A. Image Capturing:
The input data was a color image sequences taken from a moving vehicle. A color camera was
mounted
inside the vehicle at the front-view mirror along the central line. It took the images of the environment
in front
of the vehicle, including the road, vehicles on the road, roadside, and sometimes incident objects on
the road.
The on-board computer with image capturing card captured the images in real time (up to 30
frames/second),
and saved them in the computer memory. The lane detection system read the image sequences from
the
memory and started processing.
B. Conversion to Gray Scale:
To retain the color information as well as to segment the road from the lane boundaries
using the color
information, edge detection becomes difficult and consequently effects the processing time.
In practice the road
surface can be made up of many different colors due to shadows, pavement style or age,
which causes the
color of the road surface and lane markings to change from one image region to another.
Therefore, color
image were converted into grayscale. However, the processing of grayscale images became
minimal as
compared to a color image. This function transformed a 24-bit, three-channel, color image
to an 8-bit, single
channel grayscale image. The function formed a weighted sum of the Red component of the
pixel value *
0.3 +Green component of the pixel value * 0.59 + Blue component for the pixel value *0.11
and the output
is the gray scale value for the corresponding pixel (www.themalaysian.blogspot.com)
C. Noise Reduction:
Noise is a real world problem for all systems including computer vision processing. The
developed
algorithms must either be noise tolerant or the noise must be eliminated. As presence of
noise in proposed
system will hinder the correct edge detection. Hence noise removal is a pre requisite for
efficient edge
detection with the help of (F.H.D.) algorithm Mohamed Roushdy, (2007) that removed
strong shadows from
a single image. The basic idea was that a shadow has a distinguished boundary. Hence
removing the shadow
boundary from the image derivatives and reconstructing the image was applied. A shadow
edge image has been
created by applying edge-detection on the invariant image and the original image. By
selecting the edges that
exist in the original image but not in the invariant image and to reconstruct the shadow
free image by
removing the edges from the original image by using a pseudo-inverse filter has been
implemented.
D. Edge Detection:
Lane boundaries are defined by sharp contrast between the road surface and painted lines or some
types
of non-pavement surfaces. These sharp contrasts are edges in the images. Therefore edge detectors
are very
important in determining the location of lane boundaries. It also reduces the amount of learning data
required
by simplifying the image considerably, if the outline of a road can be extracted from the image. The
edge
detector was implemented for this algorithm. The one that produced the best edge images from all the
evaluated edge detectors was the ‘canny’ edge detector.
It was important to have the edge detection algorithm that could be able to select thresholds
automatically
However, the automatic threshold used in the default Canny Algorithm produced edge information that
is far
from actual threshold. A slight modification to the edge detection in canny has produced more
desirable results.
The only changes necessary were to set the amount of non-edge pixels of the highest and lower
thresholding
to the best value that has provided more accurate edges in different conditions of image capturing
environment
E. Line Detection:
The line detector used is a standard Hough transform Chen and Wang, (2006) with a restricted search
space. In reality, any line that falls outside a certain region can be neglected. For example a horizontal
line is
probably not the lane boundary and can be rejected. The restricted Hough transform was modified to
limit the
search space to 45° for each side. Also the input image is splitted in half yielding a right and left side
of the
image. Each the right and left sides are searched separately returning the most dominant line in the
half image
that falls with in the 45° window. The horizon is simply calculated using the left and right Hough lines
and
projecting them to their intersection. The horizontal line at this intersection is referred to as the
horizon
CONCLUSION

SO OVERALL IT SEEMS THAT AL AND ML WILL ALSO DOMINATE IN


THIS SECTOR OF LANE LINE DECTECTION WHILE DRIVING .THERE
SEEMS A POSITIVE FUTURE FOR TECH IN THIS FIELD

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