Lane detection and tracking using B-Snake

In this paper, we proposed a B-Snake based lane detection and tracking algorithm without any cameras’ parameters. Compared with other lane models, the B-Snake based lane model is able to describe a wider range of lane structures since B-Spline can form any arbitrary shape by a set of control points. The problems of detecting both sides of lane markings (or boundaries) have been merged here as the problem of detecting the mid-line of the lane, by using the knowledge of the perspective parallel lines. Furthermore, a robust algorithm, called CHEVP, is presented for providing a good initial position for the B-Snake. Also, a minimum error method by Minimum Mean Square Error (MMSE) is proposed to determine the control points of the B-Snake model by the overall image forces on two sides of lane. Experimental results show that the proposed method is robust against noise, shadows, and illumination variations in the captured road images. It is also applicable to the marked and the unmarked roads, as well as the dash and the solid paint line roads. q 2003 Elsevier B.V. All rights reserved.