TY  - JOUR
PY  - 2009//
TI  - Probabilistic Lane Tracking in Difficult Road Scenarios Using Stereovision
JO  - IEEE transactions on intelligent transportation systems
A1  - Danescu, R.
A1  - Nedevschi, S.
SP  - 272
EP  - 282
VL  - 10
IS  - 2
N2  - Accurate and robust lane results are of great significance in any driving-assistance system. To achieve robustness and accuracy in difficult scenarios, probabilistic estimation techniques are needed to compensate for the errors in the detection of lane-delimiting features. This paper presents a solution for lane estimation in difficult scenarios based on the particle-filtering framework. The solution employs a novel technique for pitch detection based on the fusion of two stereovision-based cues, a novel method for particle measurement and weighing using multiple lane-delimiting cues extracted by grayscale and stereo data processing, and a novel method for deciding upon the validity of the lane-estimation results. Initialization samples are used for uniform handling of the road discontinuities, eliminating the need for explicit track initialization. The resulting solution has proven to be a reliable and fast lane detector for difficult scenarios.<p /> 
LA  - 
SN  - 1524-9050
UR  - http://dx.doi.org/10.1109/TITS.2009.2018328
ID  - ref1
ER  -