lane-detection

This repository contains an approach to detect lanes in an image with polynomials and tracks the parameters with an array of Kalman filters. Further explanations can be found in the German textbook Kalman-Filter[1].

How to use

The repository contains a simulation of artificial images. However, the lane detection approach can also be used with real-world images.

Reproduction of the plots from the textbook

The lane data is stored in lanes_noise.mat. To run just the tracking and the Kalman filter with this data execute

src/main_book.m

Simulation of artificial images

To generate the artificial images run

src/main_generateImages.m

Then the images have to be transformed into bird's view with

src/main_generateBirdViewImages.m

Execute lane detection algorithm

The lane detection approach works on images in bird's view. To run the lane detection on the artificial images execute

src/main.m

References:

[1] Reiner Marchthaler and Sebastian Dingler, "Kalman-Filter: Einführung in die Zustandsschätzung und ihre Anwendung für eingebettete Systeme", Springer Vieweg, 2017.