Ground-Image Plane Mapping for Lane marks detection
Autonomous vehicles are equipped with optical sensors and micro-processing units to perform intelligent visual analysis of its surroundings. Due to the high speed of moving vehicle, the captured information has to be processed in a short duration to avoid possible collision. In this paper, aground-i...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Conference Paper |
| Published: |
IEEE
2012
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| Online Access: | http://hdl.handle.net/20.500.11937/16927 |
| _version_ | 1848749316429053952 |
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| author | Lim, King Hann Gopalai, Alpha Agape |
| author2 | IEEE |
| author_facet | IEEE Lim, King Hann Gopalai, Alpha Agape |
| author_sort | Lim, King Hann |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | Autonomous vehicles are equipped with optical sensors and micro-processing units to perform intelligent visual analysis of its surroundings. Due to the high speed of moving vehicle, the captured information has to be processed in a short duration to avoid possible collision. In this paper, aground-image plane mapping technique is proposed to quickly locate detected object if the object’s position is known in the real world. A three dimensional (3D) world coordinate is mathematically derived to an image plane using pinhole camera model. Several 3D perspective parameters such as vehicle’s steering angle and its velocity, sensor’s height and tilting angle are encompassed in the ground plane measurement. The optical sensor’s intrinsic parameters such as focal length, principal point, pixel’s height and width are also inserted for the mathematical model derivation. The importance of this ground to image plane mapping enables a rapid search of an object in a moving scene to achieve fast object identification during sensor acquisition. Experimental results have been carried on the application of lane marks detection with 93.82% correct mapping, using approximately 20% less processing time. |
| first_indexed | 2025-11-14T07:19:00Z |
| format | Conference Paper |
| id | curtin-20.500.11937-16927 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:19:00Z |
| publishDate | 2012 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-169272017-09-13T15:43:06Z Ground-Image Plane Mapping for Lane marks detection Lim, King Hann Gopalai, Alpha Agape IEEE image plane pinhole model groundplane lane tracking Lane marks detection Autonomous vehicles are equipped with optical sensors and micro-processing units to perform intelligent visual analysis of its surroundings. Due to the high speed of moving vehicle, the captured information has to be processed in a short duration to avoid possible collision. In this paper, aground-image plane mapping technique is proposed to quickly locate detected object if the object’s position is known in the real world. A three dimensional (3D) world coordinate is mathematically derived to an image plane using pinhole camera model. Several 3D perspective parameters such as vehicle’s steering angle and its velocity, sensor’s height and tilting angle are encompassed in the ground plane measurement. The optical sensor’s intrinsic parameters such as focal length, principal point, pixel’s height and width are also inserted for the mathematical model derivation. The importance of this ground to image plane mapping enables a rapid search of an object in a moving scene to achieve fast object identification during sensor acquisition. Experimental results have been carried on the application of lane marks detection with 93.82% correct mapping, using approximately 20% less processing time. 2012 Conference Paper http://hdl.handle.net/20.500.11937/16927 10.1109/ISDA.2012.6416609 IEEE restricted |
| spellingShingle | image plane pinhole model groundplane lane tracking Lane marks detection Lim, King Hann Gopalai, Alpha Agape Ground-Image Plane Mapping for Lane marks detection |
| title | Ground-Image Plane Mapping for Lane marks detection |
| title_full | Ground-Image Plane Mapping for Lane marks detection |
| title_fullStr | Ground-Image Plane Mapping for Lane marks detection |
| title_full_unstemmed | Ground-Image Plane Mapping for Lane marks detection |
| title_short | Ground-Image Plane Mapping for Lane marks detection |
| title_sort | ground-image plane mapping for lane marks detection |
| topic | image plane pinhole model groundplane lane tracking Lane marks detection |
| url | http://hdl.handle.net/20.500.11937/16927 |