IIJ Vol. 5 / No. 2 (2013) - Series B

Title: Real-Time Lane Recognition and Position Estimation for Small Vehicle

Author: Sofyan Tan and Johannes Mae

Abstract: This paper discuss the algorithm and real-time implementation of road lane detection and recognition in a miniature vehicle. The research aimed to find an algorithm with low calculation cost intended for real-time implementation in low power and small size embedded system. The algorithm employs probabilistic Hough transform to detect lines and inverse perspective mapping method to recognize the simulated road lane in bird’s view. By using the known distance between lane markings and its color, the algorithm managed to achieve high recognition and vehicle position estimation accuracy. Implementation on an arm-based small processing board yielded a position estimation rate of more than 4 Hz.

Keywords: Inverse perspective mapping, lane recognition, real-time embedded system, vehicle position estimation.

Full text: PDF






Open Access Publication Policy

The Internetworking Indonesia Journal (IIJ) provides open access to all of its content on the principle that making research freely available to the public supports a greater global exchange of knowledge. This follows the philosophy of the Open Journal Systems (see the Public Knowledge Project at pkp.sfu.ca). The IIJ issues are published electronically (PDF) and there are no subscription fees. Such access is associated with increased readership and increased citation of an author's work.

No publication fees

There is no publication fees to authors for publishing in the IIJ. This is consistent with the open access philosophy adopted by the IIJ.


The IIJ is currently indexed by SCOPUS and Google Scholar. The contents of the IIJ issues are also covered by Elsevier.

Publication Language

The primary language of the IIJ is English. Note that the IIJ does not accept requests for the translation of submitted manuscripts.

Publication Ethics Statement

The IIJ statement on ethics and mapractice can be found here (IIJ Ethics Code).

Website templates