A RANSAC-based fast road line detection algorithm for high-speed wheeled vehicles

摘要

Real-time trajectory tracking and control is a well-known problem in robotics which has recently become very interesting also for automotive industry, due to the need for constantly improving car comfort and safety. While several solutions for vehicle trajectory control already exist, assuring fast, accurate and reliable tracking using low-cost devices is still a challenging problem. In this paper an effective road line detection system is described. The proposed technique relies on the so-called RANSAC algorithm applied to the images collected by a high frame rate video camera. The main advantage of the proposed solution is the low computational burden, which is compatible for real-time trajectory monitoring even when a vehicle is travelling at high speed.