Figure 22: Comparative results. First column is the region-based by C. T. Chen and Y. S. Chen [17]. Second column is the edge-based by Çayir and Acarman [18]. Third column is the proposed method. First row: vehicle in general. Second row: motorcycle in general. Third row: shadow under the bridge. Fourth row: zebra crossing marking. Fifth row: safety island. Sixth row: haystack.