Low-Illumination Lane Detection by Fusion of Multi-light Information

Lane detection based on the visual sensor is of great significance for the environmental perception of the intelligent vehicle. Current mature lane detection algorithms are trained and implemented in good visual conditions. However, the low-light environment such as in the night is much more complex, easily causing misdetections and even perception failures, which are harmful to the downstream tasks such as behavior decision and control of ego-vehicle. To tackle this problem, we propose a new lane detection algorithm that introduces the multi-light information into lane detection task. The proposed algorithm adopts a multi-exposure image processing module, which generates and fuses multi-exposure information from the source image data. By integrating this module, mainstream lane detection models can jointly learn the extraction of lane features as well as the enhancement of low-exposed image, thus improving both the performance and robustness of lane detection in the night.