Stereo Road Detection Based on Ground Plane

  • C. H. Rodríguez-GaravitoEmail author
  • J. Carmona-Fernández
  • A. de la Escalera
  • J. M. Armingol
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9520)


This paper presents a robust road perception algorithm aimed to detect multiple lanes with temporal integration, one of the most important tasks in Advanced Driver Assistance Systems (ADAS). A new vision-based system is proposed, consisting on three parts: a line marker detection algorithm, a road line classification and a lane tracking integration. The goal is to detect the position, type and number of road lanes. The developed approach is characterized by the use of the bird’s eye view, road marks filtering based on gradient space algorithms, robust features descriptor for line classification, and road tracking based on time of life for each detected lane. The road detection is done according to the Spanish standard IC 8.2. The system was tested on the test platform IvvI 2.0.


Road line detection Bird eye view 



This work was supported by automation engineering department from de La Salle University, Bogotá-Colombia; Administrative Department of Science, Technology and Innovation (COLCIENCIAS), Bogotá-Colombia and the Spanish Government through the CICYT projects (TRA2013-48314-C3-1-R) and (TRA2011-29454-C03-02) and Comunidad de Madrid through SEGVAUTO_TRIES \((S2013/MIT-2713)\).


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • C. H. Rodríguez-Garavito
    • 1
    • 2
    Email author
  • J. Carmona-Fernández
    • 1
  • A. de la Escalera
    • 1
  • J. M. Armingol
    • 1
  1. 1.Intelligent Systems LaboratoryUniversidad Carlos III de MadridMadridSpain
  2. 2.Automation Engineering DepartmentUniversidad de La SalleBogotáColombia

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