A layered approach to robust lane detection at night

A layered approach is designed to address many of the real-world problems that an inexpensive lane detection system would encounter. A region of interest is first extracted from the image followed by an enhancement procedure to manipulate the shape of the lane markers. The extracted region is then converted to binary using an adaptive threshold. A model based line detection system hypothesizes lane position. Finally, an iterated matched filtering scheme estimates the final lane position. The developed system shows good performance when tested on real-world data that contains fluctuating illumination and a variety of traffic conditions.