Estimation of Lane State from Car-mounted Camera Using Multiple-model Particle Filter Based on Voting Result for One-dimensional Parameter Space
نویسندگان
چکیده
This papaer proposes a method of estimating the state of a driving lane by using a multiple-model particle filter for switching the type of multiple-lane model. This model represents whether there is a lane to the left or right of the running lane or there are lanes on both sides of the running lane. Using the context that an image is captured by car-mounted camera, we simplified the lane detection problem to reduce the lane state estimates. Assuming that the lane boundaries are straight lines, we can represent the lane model as a one-dimensional parameter space.
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