Computational intelligence-based real-time lane departure warning system using Gabor features

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

1 Citation (Scopus)


Lane detection and lane departure warning are crucial parts of Advanced Driver Assistance Systems (ADAS), which is designed to increase general safety on the road. This paper proposes a novel approach for lane detection, which boosts the accuracy of lane departure warning system, specifically on highway and urban road under sunny condition, using Gabor Filter and other image processing algorithms. Gabor Filter is implemented to enhance the directionality of lane marking patterns. This filter automatically eliminates shadows, road marker and other non-related objects due to lack of directionality. Canny edge detection is then applied to extract the edges of lane marking and enhance the lane marking pattern. Lastly, Probabilistic Hough Transform (PHT) is applied to identify the correct left and right lane candidates on the road. We have also implemented lane departure warning to alert the driver when the vehicle is veered out of the lane. We showed that our framework is capable of realtime implementation using a Raspberry pi 3B to achieve 93% for lane detection and 95% for lane departure warning with 20 frames per second (fps) and only 75% Central Processing Unit (CPU) utilization.

Original languageEnglish
Title of host publication2019 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC 2019)
EditorsTatsuya Kawahara, Jiangyan Yi
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages4
ISBN (Electronic)9781728132488
ISBN (Print)9781728132495
Publication statusPublished - 2019
EventAnnual Summit and Conference of the Asia-Pacific-Signal-and-Information-Processing-Association (APSIPA) 2019 - Lanzhou, China
Duration: 18 Nov 201921 Nov 2019 (Proceedings) (Website)


ConferenceAnnual Summit and Conference of the Asia-Pacific-Signal-and-Information-Processing-Association (APSIPA) 2019
Abbreviated titleAPSIPA ASC 2019
Internet address

Cite this