期刊
SWARM AND EVOLUTIONARY COMPUTATION
卷 41, 期 -, 页码 111-119出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.swevo.2018.02.007
关键词
Self-driving car; Autonomous car; Lane detection; Vanishing point; RANSAC; Harmony search
资金
- MSIT (Ministry of Science and ICT), Korea, under the ITRC support program [IITP-2018-2017-0-01630]
- IITP (Institute for Information & communications Technology Promotion)
Self-driving or autonomous vehicles require an ability to detect road lanes. In order to do so, a vanishing point should be first detected because the vanishing point exists on the extended lines of road lanes. For detecting the vanishing point, a random sample consensus (RANSAC) algorithm has been generally utilized. However, the performance of RANSAC is sometimes not so good but fluctuated. Thus, this study proposes a new approach to estimate the vanishing point using a harmony search (HS) algorithm. Results show that HS stably estimates vanishing points with respect to statistics when compared with RANSAC. We hope this model to be utilized in self-driving car in the future.
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