Lane marking detection is part of most advanced driver assistance systems (ADAS) as an important component of computer vision. This paper presents a lane detection system based on a novel lane feature extraction approach. The robustness and real-time of algorithm enable different configurations of embedded solutions. The system is divided into three phases. Firstly, using the Prewitt operator we can get the rich useful details and using Shen Jun operator we can get step edge, on the other hand Shen Jun operator is the best filter to detect the symmetrical markings according to the maximum signal noise ratio (SNR) criterion. So we introduce the best compromise method between noise smoothing and edge locating that combining the Prewitt operator with Shen Jun operator to extract lane markings. Then a fast Hough transform based on image pyramid is applied to get the lane lines. The posterior algorithm of reasonably refining the Lane lines angle is introduced to correct to error caused by Hough transform. Finally, robust detection of vehicleâs departure warning is also discussed. Experiment results on real road will be presented to prove the robustness and effectiveness of the proposed lane detection algorithm.
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