This repository contains an approach to detect lanes in an image with polynomials and tracks the parameters with an array of Kalman filters. Further explanations can be found in the German text book Kalman-Filter[1].

The repository contains a simulation of artificial images. However, the lane detection approach can also be used with real world images.

To generate the artificial images run

src/main_generateImages.m

Then the images have to be transformed into bird's view with

src/main_generateBirdViewImages.m

The lane detection approach works on images in bird's view. To run the lane detection on th artificial images execute

src/main.m

[1] Reiner Marchthaler and Sebastian Dingler, "Kalman-Filter: Einführung in die Zustandsschätzung und ihre Anwendung für eingebettete Systeme", Springer Vieweg, 2017.