LMDT IP core implements an algorithm for lane markings extraction and tracking using a camera installed in front of a vehicle.
It can be used as base component of a forward-looking Lane Departure Warning (LDW) system whose objective is to alert the driver when the vehicle unintentionally departs from its road lane. Indeed, that system requires to identify and track the markings corresponding to the lane boundaries and to locate the relative host vehicles position.
LMDT aims to a long range lane detection using a curvilinear lane model.
The module is composed by a pipeline of functional blocks implementing:
The model-fitting is a variant of RANSAC method (RANdom Sample Consensus), while the model-tracking is based on Kalman filters.
For technical details please refer to the following publications:
"Building Automotive Driver Assistance System Algorithms with Xilinx FPGA platforms" - Xcell Journal, fourth quarter 2008 - Download PDF
"A real-time versatile roadway path extraction and tracking on an FPGA platform" - Computer Vision and Image Understanding, Volume 114, Issue 11, November 2010, Pages 1164-1179. Special issue on Embedded Vision