Vision-based Real-time Lane Detection and Tracking for Mobile Robots in a Constrained Track Environment (제한된 트랙 환경에서 모바일 로봇의 비젼 기반 실시간 차선 검출과 추적)

Kim， Young-Ju (김영주)

doi:10.9708/jksci.2019.24.11.029

Vision-based Real-time Lane Detection and Tracking for Mobile Robots in a Constrained Track Environment

Journal of The Korea Society of Computer and Information
Abbr : JKSCI
2019, 24(11), pp.29-39
DOI : 10.9708/jksci.2019.24.11.029
Publisher : The Korean Society Of Computer And Information
Research Area : Engineering > Computer Science
Received : October 25, 2019
Accepted : November 26, 2019
Published : November 29, 2019

Kim， Young-Ju ¹

¹신라대학교

Accredited

ABSTRACT

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

KEYWORDS

Autonomous Driving, Lane Detection, Lane Tracking, Kalman Filter, ROS

Citation status

* References for papers published after 2023 are currently being built.

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[web] / ROS / http://www.ros.org

[web] / Robotis Turtlebot-3 / http://emanual.robotis.com/docs/en/platform/turtlebot3/specifications/#specifications

[web] / Hardkernel Odroid XU-4 / https://wiki.odroid.com/odroid-xu4/odroid-xu4

KJCKorea
Journal Central

Journal of The Korea Society of Computer and Information 2023 KCI Impact Factor : 0.65

Vision-based Real-time Lane Detection and Tracking for Mobile Robots in a Constrained Track Environment

ABSTRACT

KEYWORDS

Citation status

* References for papers published after 2023 are currently being built.

Journal of The Korea Society of Computer and Information 2023 KCI Impact Factor : 0.65

Vision-based Real-time Lane Detection and Tracking for Mobile Robots in a Constrained Track Environment

ABSTRACT

KEYWORDS

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REFERENCES (25) * References for papers published after 2023 are currently being built.

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* References for papers published after 2023 are currently being built.