Research Article
A Hybrid Vision-Map Method for Urban Road Detection
Figure 14
Road models estimated from the road shape information extracted from the map.
(a) Two lanes' scene with correct localization |
(b) Road with multiple lanes |
(c) Road exit modeled with map information |
(d) Incoming lane in a train crossing |
(e) Road intersection with incorrect localization |
(f) Incorrect localization in a single lane street |