Lane detection with moving vehicles in the traffic scenes

Hsu Yung Cheng, Bor Shenn Jeng, Pei Ting Tseng, Kuo Chin Fan

Research output: Contribution to journalArticlepeer-review

180 Scopus citations


A lane-detection method aimed at handling moving vehicles in the traffic scenes is proposed in this brief. First, lane marks are extracted based on color information. The extraction of lane-mark colors is designed in a way that is not affected by illumination changes and the proportion of space that vehicles on the road occupy. Next, for vehicles that have the same colors as the lane marks, we utilize size, shape, and motion information to distinguish them from the real lane marks. The mechanism effectively eliminates the influence of passing vehicles when performing lane detection. Finally, pixels in the extracted lane-mark mask are accumulated to find the boundary lines of the lane. The proposed algorithm is able to robustly find the left and right boundary lines of the lane and is not affected by the passing traffic. Experimental results show that the proposed method works well on marked roads in various lighting conditions.

Original languageEnglish
Pages (from-to)571-582
Number of pages12
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number4
StatePublished - Dec 2006


  • Camera geometry
  • Computer vision
  • Intelligent transportation systems (ITS)
  • Intelligent vehicles
  • Lane detection


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