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Lane boundary detection is the problem of estimating the geometric structure of the lane boundaries of a road based on the images grabbed by a camera on board a vehicle. We use the Hough transform to detect lane boundaries with a parabolic model under a variety of road pavement types, lane structures and weather conditions. In the three-dimensional Hough space, a parabolic curve is represented as a straight line. To simplify the computation, the parametric space can be divided into (i) a two-dimensional space measured by the parameters which are shared by all the lane edges, and (ii) a one-dimensional space of the parameter which makes a distinction among different edges in an image. A multiresolution strategy is used to improve both the speed and accuracy of the Hough transform. Experimental results show that the proposed method is relatively less prone to the image noise and is computationally tractable.
Yu et al. (Sat,) studied this question.