CHAPTER 6

CONCLUSION

6.1. THESIS SUMMARY

The primary concern while driving on the road is safety. People always expect to reach
home safely or to travel from one place to another place safely. For driving safely and
avoiding accidents on the road assistance system are very helpful. The major causes
of road accidents are rash driving, driving the vehicle at full speed, drowsiness, lack
of visibility on the road, and vehicle crashes. Vehicle crashing is one of the leading
reasons for the accident, which happened because of not keeping the lane and while
departing the lane. Many accidents are recorded in the traffic-congested Asian region
as well as the European region in the traffic-congested Cities.

The lane detection is the heart of the DAS. In this thesis, we have looked after the
existing work done by the researchers in lane detection. We also discussed the inverse
mapping method. The less information is present in the pixel which is at the lower
part of the image. The pixels that are present in the middle of the image contain more
information. This effect of non-homogenous allocation of the data content amongst every
one of the pixels in the image, an IPM method is used.

In this research, we have proposed three methodologies that are EW-CSA based deep
CNN, RBIS segmentation and entropy-based fusion (EBF) model for multilane
detection.

In the EW-CSA based deep CNN method, multiple lane input images are provided for
training input to the proposed model. Image transformation is performed using the IPM
and then the BEV image is provided to an EW-CSA based deep CNN to detect the
lane. Finest weights are preferred by an EW-CSA for deep CNN classifier, and then
lane detection is accomplished. The experiment is performed on the images taken
from the KITTI database. The enactment of the classifier appraisedbased on the

137
performance measures detection accuracy, specificity, and sensitivity. The relative
analysis is performed with three existing models based on the performance evaluation.

The proposed EW-CSA based DCNN classifier accomplished enhanced outcomes.The

detection accuracy is 0.99512, specificity is 0.995, and sensitivity is 0.9925 for the
recognition.

RBIS segmentation approach is implemented in chapter 4. Input images are segmented

based on spaking approach and then proposed iterative seed is applied for multilane
detection. The image is divided into grids and Bhattacharya distance measure is used
or selecting the targets. An iterative process is used for determining the optimal weight.
Grids are merged using the neighborhood distance measure for detecting the lanes.
Then, the performance of RBIS segmentation approach is measured using metrics like
accuracy, specificity, and sensitivity. The RBIS segmentation approach simulation
resultis compared with the available methods..The proposed RBIS segmentation
approach outflanked different strategies by accomplishing the most extreme detection
accuracy is 0.9889, greatest sensitivity is 0.9916, and the specificity is 0.8863.

An entropybased fusion (EBF) model to identify the various paths is explained in

chapter 5. The EBFmodel is used to incorporate the outcomes acquired by two stages
for multilane detection. The main stage is to identify the location of multi-path using
an EW-CSA based DEEP CNN, where EW-CSA is utilized to prepare the DEEP CNN.
In the subsequent stage, the multi-path recognition is completed utilizing a RBIS
technique, in which sparking strategy was employed for the segmentation. At that
point, the proposed EBF combination model is used to settle on an ultimate choice by
joining the consequences of both the methods depend on the entropy measure. The
presentation of the proposed model gives prevalent outcomes regarding specificity
estimation is 0.887, sensitivity estimation is 0.992, and accuracy estimation is 0.991.

All experiments are performed in MATLAB, and the I3 core processor, and 4 GB
RAM are required. The dataset used for the evaluation is KITTI.

138
The comparative analysis is performed with the existing DVPE, MMBMT and DCNN
methods and achieved improved results.

6.2. ACCOMPLISHMENT PRINCIPLES REVISITED

To answer the questions that pointed out in chapter 1, lane detection techniques have
been established and evaluated throughout the thesis. The purpose of this research is
to get better detection accuracy. So, three methods have been proposed for lane
detection and they have given improved detection accuracy as associated to the
existing technique. The comparison with the existing technique has been performed.

139