Road detection, which brings a visual perceptive ability to vehicles, is essential to build driver assistance systems. To help detect lane markings in challenging scenarios, one-time calibration of inverse perspective mapping (IPM) parameters is employed to build a bird’s eye view of the road image. We propose an automatic IPM method based on road boundaries called BIRD (Boundary-based IPM for Road Detection), avoiding common problems of fixed IPM. Furthermore, integrating top-down and bottom-up attention, an illumination-robust lane marking detection approach using BIRD is proposed. 

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@inproceedings{ying2016robust,
  title={Robust lane marking detection using boundary-based inverse perspective mapping},
  author={Ying, Zhenqiang and Li, Ge},
  booktitle={Acoustics, Speech and Signal Processing (ICASSP), 2016 IEEE International Conference on},
  pages={1921--1925},
  year={2016},
  organization={IEEE}
}