Citation

Beauvais M, Lakshmanan S. Image Vis. Comput. 2000; 18(5): 397-413.

Copyright

(Copyright © 2000, Elsevier Publishing)

DOI

10.1016/S0262-8856(99)00035-9

PMID

unavailable

Abstract

This paper describes Combined Likelihood Adding Radar Knowledge (CLARK), a new method for detecting lanes and obstacles by fusing information from two forward-looking vehicle mounted sensors--vision and radar. CLARK has three stages: (1) obstacle detection using a novel template matching approach; (2) lane detection using a modified version of the Likelihood Of Image Shape algorithm; (3) simultaneous estimation of both obstacle and lane positions by locally maximizing a combined likelihood function.

Experimental results illustrating the efficacy of these components are presented. CLARK detects the position of lanes and obstacles accurately, even under significantly noisy conditions.