Ego Vehicle Lane Detection and Key Point Determination Using Deep Convolutional Neural Networks and Inverse Projection Mapping

Ego lane detection is one of the key techniques in Ego Lane Analysis System (ELAS) implemented in smart autonomous driving cars for lane detection in roads. This technique has been extensively studied in recent years because of its accurate and robust detection of shape and location of lanes. The conventional methods are less robust and computationally expensive since they have several challenges in localization of lanes due to presence of occlusions on roads. So to avoid these issues, this paper uses a novel 2-stage lane detection method using deep convolutional neural network to detect the lanes and its key-points by optimally fit a curve to the lane to compensate on above mentioned issues. The proposed methodology for lane detection predicts the key-points accurately and it robust under various weather conditions and highway driving scenarios. In terms of performance, this technique is fast and robust with low computational cost and has high performance when deployed on autonomous vehicle-based systems.