findParabolicLaneBoundaries
Find boundaries using parabolic model
Syntax
Description
uses the random sample consensus (RANSAC) algorithm to find parabolic lane boundary
models that fit a set of boundary points and an approximate width. Each model in the
returned array of boundaries
= findParabolicLaneBoundaries(xyBoundaryPoints
,approxBoundaryWidth
)parabolicLaneBoundary
objects
contains the [A B C]
coefficients of its second-degree polynomial
equation and the strength of the boundary estimate.
[
also returns a cell array of inlier boundary points for each boundary model
found.boundaries
,boundaryPoints
]
= findParabolicLaneBoundaries(xyBoundaryPoints
,approxBoundaryWidth
)
[___] = findParabolicLaneBoundaries(___,
uses options specified by one or more Name,Value
)Name,Value
pair arguments,
with any of the preceding syntaxes.
Examples
Input Arguments
Output Arguments
Tips
To fit a single boundary model to a double lane marker, set the
approxBoundaryWidth
argument to be large enough to include the width spanning both lane markers.
Algorithms
This function uses
fitPolynomialRANSAC
to find parabolic models. Because this algorithm uses random sampling, the output can vary between runs.The
maxDistance
parameter offitPolynomialRANSAC
is set to half the width specified in theapproxBoundaryWidth
argument. Points are considered inliers if they are within the boundary width. The function obtains the final boundary model using a least-squares fit on the inlier points.
Extended Capabilities
Version History
Introduced in R2017a