ハフ変換とパーティクルフィルタを用いた左右レーンマーク検知

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2013/07/01

タイトル(英語): Lane Marks Detection Using Particle Filter Based on Voting Results of Hough Transform

著者名: 渡邉　信太郎（三菱電機（株） 先端技術総合研究所），関　真規人（三菱電機（株） 先端技術総合研究所），羽下　哲司（三菱電機（株） 自動車機器開発センター）

著者名(英語): Shintaro Watanabe (Advanced Technology R&D Center, Mitsubishi Electric Corporation), Makito Seki (Advanced Technology R&D Center, Mitsubishi Electric Corporation), Tetsuji Haga (Automotive Electronics Development Center, Mitsubishi Electric Corporation)

キーワード: レーンマーク検知，ハフ変換，パーティクルフィルタ　　lane marks detection，Hough transform，particle filter

要約(英語): This paper proposes an algorithm to detect lane marks on a road very fast by means of the Hough transform and the particle filter methods. The proposed method is composed of two parts, the voting part based on the Hough transform as a bottom-up process and the parameter estimation part using the particle filter as a top-down process. In the bottom-up process, the method extracts candidate lines by voting procedure for each lane marks features. In the top-down process, the method verifies the lane model hypotheses using the voting result of lines extraction. The bottom-up process can be executed fast because the parameter space in extracting lines is low-dimensional, and the top-down process becomes more efficient by using the detection results of primitive shapes. Experiment results show that the proposed method can detect lane marks robustly, and can achieve an average speed 0.06ms/frame (Intel Core i7 3.2GHz) with an average position error 9.42cm.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.133 No.7 （2013） 特集：平成24 年電気学会電子・情報・システム部門大会

本誌掲載ページ: 1384-1391 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/133/7/133_1384/_article/-char/ja/