Ground truth and performance evaluation of lane border detection

Abstract

Lane-border detection is one of the best-developed modules in vision-based driver assistance systems today. However, there is still a need for further improvement for challenging road and traffic situations, and a need to design tools for quantitative performance evaluation.This paper discusses and refines a previously published method to generate ground truth for lane markings from recorded video, applies two lane-detection methods to such video data, and then illustrates the proposed performance evaluation by comparing calculated ground truth with detected lane positions. This paper also proposes appropriate performance measures that are required to evaluate the proposed method.