Jiang, RuyiKlette, ReinhardWang, ShigangVaudrey, Tobi2009-06-162009-06-162009Multimedia Imaging Report 39 (2009)1178-5789http://hdl.handle.net/2292/4354You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original MI_tech website http://www.mi.auckland.ac.nz/index.php?option=com_content&view=article&id=127&Itemid=113 . All other rights are reserved by the author(s).Lane detection is an important component of driver assistance systems (DAS), and highway-based lane departure solutions have been in the market since the mid 1990s. However, improving and generalizing vision-based lane detection solutions remains to be a challenging task. Particle filtering of boundary points is a robust way to estimate lanes. This paper introduces a new lane model in correspondence to this particle filter-based approach. Furthermore, a modified version of an Euclidean distance transform is applied on an edge map to provide information for boundary point detection. In comparison to the edge map, properties of the distance transform support improved lane detection including a novel initialization method. Two lane tracking methods are also discussed while focusing on efficiency and robustness, respectively. Finally, the paper reports about experiments on lane detection and tracking.Copyright Computer Science Department, The University of Auckland. You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original CITR web site under terms that include this permission. All other rights are reserved by the author(s).https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htmTechnical ReportFields of Research::280000 Information, Computing and Communication Scienceshttp://purl.org/eprint/accessRights/OpenAccess