Lane Detection in Video-Based Intelligent Transportation Monitoring via Fast Extracting and Clustering of Vehicle Motion Trajectories

Figure 6

Testing results in the typical road segments.

(a) Feature point results in exit road in daytime

(b) Feature point results in straight ramp in daytime

(c) Feature point results in curve road in daytime

(d) Lane center detection results in exit road in daytime

(e) Lane center detection results in straight ramp in daytime

(f) Lane center detection results in curve road in daytime

(g) Feature point results in exit road at night

(h) Feature point results in straight ramp at night

(i) Feature point results in curve road at night

(j) Lane center detection results in exit road at night

(k) Lane center detection results in straight ramp at night

(l) Lane center detection results in curve road at night