Lane Detection Based on Connection of Various Feature Extraction Methods

Table 1

Extended Kalman Filter algorithm module.

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Initialization:

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Prediction:

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(I) State Prediction:

(II) State Prediction Error Covariance Matrix:

Where,

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Error Correction:

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(I) Kalman Gain:

Where,

(II) State Estimation:

(III) State Estimation Error Covariance Matrix:

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