Vision-Based Lane Departure Detection Using a Stacked Sparse Autoencoder

Figure 1

Lane departure description: (a) description of a vehicle moving to the left side, (b) change in the driving direction of lane marks when a vehicle approaches the left direction, (c) change in the driving direction of lane marks when a vehicle approaches the right direction, (d) description of a vehicle moving to the right side, (e) description of the relationship between the CCD camera and the lane, and (f) CCD camera installation on a vehicle.

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