tomazas / opencv-lane-vehicle-track Goto Github PK

###Project implements a basic realtime lane and vehicle tracking using OpenCV.###

• OpenCV 2.3
• C/C++ using Microsoft Visual Studio 2010 IDE.

• Gaussian smoothing for image noise removal
• Canny edge detection [1]
• Hough transform for line detection
• Haar features for vehicle detection (hypothesis generation) [2]
• Vehicle hypothesis verification using horizontal edges and symmetry [3]

• k-Means clustering for Hough lines
• Kalman/Gabor/RANSAC filtering of sampled data
• KLT (Kanade-Lucas-Tomasi) feature tracker for vehicle tracking
• Vanishing point detection using Gaussian probability model
• Better lane tracking(probability methods), stability & accuracy
• More accurate vehicle hypothesis checking
• Alternative IPM(inverse perspective mapping) lane detection method
• Road area extraction & detection for roads without lanes
• Ability to process night vision situations
• Include road shadow removal
• Speed upgrades
• Road sign and traffic lights detection

1. Canny, J., "A Computational Approach To Edge Detection", IEEE Trans. Pattern Analysis and Machine Intelligence, 1986
2. Viola and Jones, "Rapid object detection using a boosted cascade of simple features", Computer Vision and Pattern Recognition, 2001
3. King Hann Lim et al. "Lane-Vehicle Detection and Tracking", IMECS, 2009

#####Training data used from: ##### California Institute of Technology SURF project

Example project homepage