Robust Lane Extraction Using Two-Dimension Declivity

  • Mohamed FakhfakhEmail author
  • Nizar Fakhfakh
  • Lotfi Chaari
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10842)


A new robust lane marking extraction algorithm for monocular vision is proposed based on Two-Dimension Declivity. It is designed for the urban roads with difficult conditions (shadow, high brightness, etc.). In this paper, we propose a locating system which, from an embedded camera, allows lateral positioning of a vehicle by detecting road markings. The primary contribution of the paper is that it supplies a robust method made up of six steps: (i) Image Pre-processing, (ii) Enhanced Declivity Operator (DE), (iii) Mathematical Morphology, (iv) Labeling, (v) Hough Transform and (vi) Line Segment Clustering. The experimental results have shown the high performance of our algorithm in various road scenes. This validation stage has been done with a sequence of simulated images. Results are very promising: more than 90% of marking lines are extracted for less than 12% of false alarm.


Curve lane detection Declivity operator Road marking Clustering Hough transform 


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Mohamed Fakhfakh
    • 1
    • 2
    Email author
  • Nizar Fakhfakh
    • 2
  • Lotfi Chaari
    • 1
    • 3
  1. 1.University of SfaxSfaxTunisia
  2. 2.NAVYAParisFrance
  3. 3.IRIT-ENSEEIHTUniversity of ToulouseToulouseFrance

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