A Hybrid Vision-Map Method for Urban Road Detection

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/7090549/figures/7090549.fig.0015a.svgz" name="7090549.fig.0015a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Road model of an adjacent street</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/7090549/figures/7090549.fig.0015b.svgz" name="7090549.fig.0015b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Road model of an intersection of three streets</td></tr></table>

<div>Road prior obtained after modeling the uncertainty of the vehicle position and orientation.</div>

Journal of Advanced Transportation

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Figure 15

Figure 15: A Hybrid Vision-Map Method for Urban Road Detection 