Lane detection and tracking based on dynamic region of interest

Lane detection and tracking with machine vision system is widely used to recognize the relative location of moving vehicle on the structural road.In the recognition,the linear road model can give a real time result and is proved to be precise by theoretic calculation.Pretreatment of the picture and Hough transform(HT) for lane detection are both carried out in region of interest(ROI) composed of two dynamic windows.The size and location of the windows are decided by Kalman filter.Practical experiments indicate that the time of detection for one frame of picture is less than 30 ms,and the tracking is robust against the disturbance of other cars.