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

Table 1

Complexity comparison in average time base (sec.).

Method	Lane detection		Lane tracking
Method [24]	<4		<0.5
	Horizon localization	0.19
Proposed method	Lane region analysis	0.34	0.78
	Adaptive line segment	0.79
	River flow method	0.06