Biologically Visual Perceptual Model and Discriminative Model for Road Markings Detection and Recognition

Figure 9

Arrow road markings recognition results: (a) recognizing Forward in nighttime; (b) recognizing Forward under cloudy condition; (c) recognizing Forward at night under lower light condition; (d) recognizing Forward-Right in sunny days; (e) recognizing Forward-Right under rainy condition; (f) recognizing Forward-Right at night.

(a)

(b)

(c)

(d)

(e)

(f)