How to detect obstacles within the lane through smartphone-based lane recognition

Abstract

This paper proposes a method of detecting obstacles existing on the lane making use of lane recognition based on smart-phone. In the proposed method, after detecting lanes by means of inverse perspective transformation, the 1st step is to detect a obstacle candidate region in terms of dispersion map using dispersion values at the interested regions set up in the detected lane, and when multiple candidate regions are detected, the 2nd step is to detect characteristic points at the interested region with a FAST corner detector and select the region that has the overlapping obstacle candidate position with the 1st step result as the obstacle. The proposed method showed good obstacle-detection performance of 80∼90ms for processing 1 frame image by reducing processing region and simplifying processing process. © Springer-Verlag Berlin Heidelberg 2014.