Dynamic Road Structure Estimation

Abstract

The paper presents a road structure estimation system capable of robustly segmenting and tracking lanes perceived using a camera mounted on a vehicle. The algorithm is based on a camera calibration procedure that is able to calculate in real time de roll, pitch and yaw of the vehicle. Further, the method is able to compute not only the ego-lanes, on which the car is driving, but also the neighbouring lanes. The approach is evaluated in two different driving scenarios, that is, highway and inner city roads driving.