A fast and stable lane detection method based on B-spline curve

Abstract

A new structure road detection algorithm based on open uniform B-spline curve model is proposed. Firstly, Canny edge detection algorithm is used to extract the road edge. Then road markings are gotten from the edge map by the least square method. Lastly, the road model (B-spline model) is fitted after the central points of the road are gotten from the lane markings. In order to accurate the position of the road bend, the algorithm introduces the maximum deviation of position shift (MDPS) method to search control points. A large number of experiments show that the algorithm is fast, stable, and flexible. It is able to meet the requirements of intelligent navigation.