River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking

<table> (a) Minimum pixel value filter, (b) vertical means distribution segmentation, (c) regional minima, (d) selection of the horizon line threshold, and (e) separation of the sky and road region. </table>

International Journal of Vehicular Technology

fig2

Figure 2

Figure 2: River Flow Lane Detection and Kalman Filtering-Based B-Spline Lane Tracking 