  In this work, we have developed a robust lane detection and departure warning
technique. Our system is based on single camera sensor. For lane detection a
modified Inverse Perspective Mapping using only a few extrinsic camera
parameters and illuminant Invariant techniques is used. Lane markings are
represented using a combination of 2nd and 4th order steerable filters, robust
to shadowing. Effect of shadowing and extra sun light are removed using Lab
color space, and illuminant invariant representation. Lanes are assumed to be
cubic curves and fitted using robust RANSAC. This method can reliably detect
lanes of the road and its boundary. This method has been experimented in Indian
road conditions under different challenging situations and the result obtained
were very good. For lane departure angle an optical flow based method were
used.
