Figure 13
From: Real-time lane departure warning system based on a single FPGA
Actual road experiments. Results in various scenarios. (a) Urban road and vehicle disturbing. (b) Worn off marks. (c) Rainy. (d) Night. (e) Exit of a tunnel. In the left parts are the original images. The small cross in the right parts denotes the position of the vanishing point, and the circle around the vanishing point represents the parameter space range of ρ = 4σ. Red line means the tracked lane marking, and warning time is tagged beside the marked lane. Yellow line means the alarm is triggered.