A robust lane detection and tracking system based on monocular vision is presented in this paper. First, the lane detection algorithm can transform raw images into top view images by inverse perspective mapping （ IPM）, and detect both inner sides of the lane accurately from the top view im- ages. Then the system will turn to lane tracking procedures to extract the lane according to the infor- mation of last frame. If it fails to track the lane, lane detection will be triggered again until the true lane is found. In this system, 0-oriented Hough transform is applied to extract candidate lane mark- ers, and a geometrical analysis of the lane candidates is proposed to remove the outliers. Additional- ly, vanishing point and region of interest（ROI） dynamically planning are used to enhance the accura- cy and efficiency. The system was tested under various road conditions, and the result turned out to be robust and reliable.
