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.0017a.svgz" name="7090549.fig.0017a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Lanes estimation based on road limit features and the vanishing point</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/7090549/figures/7090549.fig.0017b.svgz" name="7090549.fig.0017b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Prior knowledge of the road shape based on a digital navigation map</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/jat/volume-2017/7090549/figures/7090549.fig.0017c.svgz" name="7090549.fig.0017c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Comparative result of the proposed method and the ground truth</td></tr></table>

<div>Qualitative results of the proposed method in narrowed roads. The meaning of the colors is as follows: TP: green; FP: blue; and FN: red.</div>

Journal of Advanced Transportation

A Hybrid Vision-Map Method for Urban Road Detection

Figure 17