Research Article
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 | |
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