Inverse perspective mapping based Urban road markings detection

A robust road markings detection algorithm is a fundamental component of intelligent vehicles' autonomous navigation in urban environment. This paper presents an algorithm for detecting road markings including zebra crossings, stop lines and lane markings to provide road information for intelligent vehicles. First, to eliminate the impact of the perspective effect, an Inverse Perspective Mapping (IPM) transformation is applied to the images grabbed by the camera; the region of interest (ROI) was extracted from IPM image by a low level processing. Then, different algorithms are adopted to extract zebra crossings, stop lines and lane markings. The experiments on a large number of street scenes in different conditions demonstrate the effectiveness of the proposed algorithm.