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The paper proposes the median filter based Retinex algorithm to detect the lanes in a foggy image. Whether an input image is foggy or not is determined by analyzing the histogram in the pre-defined ROI(Region of Interest). If the image is determined as a foggy one, then it is improved by the median filter based Retinex algorithm. By replacing the Gaussian filter by the median filter in the Retinex algorithm, the processing time can be reduced and the lane features can be detected more robustly. Once the enhanced image is acquired, the binarization based on multi-threshold and the labeling operations are applied. Finally, it detects the lane information using the size and direction parameters of the detected lane features. The proposed algorithm has been evaluated by using various foggy images collected on different road conditions to prove that it detects lanes more robustly in most cases than the conventional methods.

Lane detection method using Median Filter based Retinex Algorithm in Foggy Image