The Multi-Scale Hough Transform Lane Detection Method Based on the Algorithm of Otsu and Canny

Abstract

In order to improve the accuracy of detecting lane for automatic vehicle driving, a method for detecting the straight part of Lane is proposed, which is the Multi-Scale Hough transform method for lane detection based on the algorithm of Otsu and Canny. First of all, by the methods of Otsu to segment image and use the morphology operation of erode and dilate to wipe off the information of roadside trees and fences to strengthen the road boundary characteristics.Then the lane edge and feature is gained by the canny operator. At last, using Standard Hough Transform, Progressiveness Probabilities Hough Transform and Multi-Scale Hough Transform complete the detection of lane’s straight part. The experimental results show that, Multi-Scale Hough Transform method can accurately detect the lane line and provide the reliable basis for the path planning, automatic follow-up vehicle driving and lane departure warning.