JSS ACADEMY OF TECHNICAL EDUCATION

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

Seminar On

EDGE BASED LANE

DETECTION
Presented by,
Prem Sagar P V
( 1JS15EC064 )
 OVERVIEW

 Edge detection

 Types of edge detection algorithms

 Implementing lane detection algorithm

 Comparison of edge detection algorithms

 EDGES

 Abrupt change in the intensity of pixels.

 Discontinuity in image brightness or contrast.

 Usually edges occur on the boundary of two

regions.
 EDGE DETECTION

 Process of identifying edges in an

image to be used as a fundamental
asset in image analysis

 Locating areas with strong intensity

contrasts
 EDGE TYPES

 Step Edge

 Ramp Edge

 Ridge

 Roof
 EDGE DETECTION STEPS

Steps in edge detection process:

1. Noise Reduction

2. Edge Enhancement

3. Edge Localization
 GRADIENT BASED EDGE
DETECTION
 Gradient - Directional change of intensity
 Magnitude of the gradient - strength of the edge

 𝐺 = 𝐺𝑥 2 + 𝐺𝑦 2

 Direction – perpendicular to the direction of edge

−1 𝐺𝑦
 𝜃= tan
𝐺𝑥
 TYPES OF GRADIENT BASED EDGE
DETECTION

Roberts Edge Detector

Prewitt Edge Detector

Sobel Edge Detector

Canny Edge Detector

1. ROBERTS EDGE DETECTOR

 2X2 Convolution Mask

 Convolution Mask
 𝐺𝑥 𝐺𝑦
1 0 0 −1
0 −1 1 0
2. PREWITT EDGE DETECTOR

 3X3 Convolution Mask

 Convolution Mask
 𝐺𝑥 𝐺𝑦
−1 0 1 1 1 1
−1 0 1 0 0 0
−1 0 1 −1 −1 −1
3. SOBEL EDGE DETECTOR
 3X3 Convolution Mask
 Convolution Mask
 𝐺𝑥 𝐺𝑦
−1 0 1 1 2 1
−2 0 2 0 0 0
−1 0 1 −1 −2 −1
 Canny’s Algorithm

 Step 1

 Smoothing: using a Gaussian filter – reduce noise.

 Step 2

 Gradient magnitude and direction: Sobel or Prewitt

 Step 3

 Non maximum suppression – edge thinning

 Cont. Canny’s Algorithm
 Step 4
 Double Threshold
 Step 5
 Edge tracking by hysteresis
APPLICATION OF EDGE DETECTION

 Extract important features of an image

 Corners

 Lines

 Curves

 Recognize objects, boundaries, segmentation.

LANE DETECTION METHODOLOGY

 Step 1
 Conversion of the colour image to grey image.
 Step 2
 Removal of noise
 Step 3
 Locating boundary
 Step 4
 Extracting region of interest (ROI)
 Step 5
 Applying Hough transform
CRITERIA FOR EVALUATING QUALITY
OF EDGE DETECTOR

 Time taken to execute the algorithm

 The probability of a false positive

 The probability of a false negative

Edge detection algorithm based on time
evaluation

Edge First Second Third Average

Operator Elapsed Time Elapsed Time Elapsed Time Time (s)
(s) (s) (s)

Sobel 0.397447 0.400295 0.435820 0.411187

Canny 0.555339 0.658794 0.638951 0.617695

Prewitt 0.432182 0.500475 0.523980 0.485546

Roberts 0.456619 0.448964 0.431709 0.445764

Lane detection algorithm based on time
evaluation

Edge First Second Third Average

Operator Elapsed Elapsed Elapsed time Time (s)
time(s) Time(s) (s)

Sobel 1.129469 1.135940 1.146956 1.137455

Canny 1.147756 1.137728 1.149455 1.144980

Prewitt 1.098794 0.853286 0.992367 0.981482

Roberts 0.854637 0.811514 0.849829 0.838660

 CONCLUSION

 Roberts edge detector - simple, better image

quality and better speed

 Canny, Sobel and Prewitt - more sensitive and

time consuming
 REFERENCES

 Development of Edge-Based Lane Detection Algorithm Using Image

Processing Moveh Samuel , Maziah Mohamad, Shaharil Mad Saad ,
Mohamed Hussein, INTERNATIONAL JOURNAL ON INFORMATICS
VISUALIZATION, VOL 2 (2018) NO 1
 Shameem A., Rajayalakshmi D. and Syed A. S., A Theoretical Survey
for Edge Detection Techniques and Watershed Transformation,
International Journal of Computer Technology and Electronics
Engineering (IJCTEE) Volume 2, Issue 1, pp: 54-58
 Meghana D. M., Andurkar G. K., 2012. Edge Detection Technique: A
Comparative Approach, World Journal of Science and Technology
 Digital image processing, Rafael C Gonzalez, Richard E Woods
THANK YOU