Vision-Based Lane Departure Detection Using a Stacked Sparse Autoencoder

Figure 14

Results of right and left lane departure detection. (a) Value change of right LO from frames 187 to 260 where right departure occurs. (b) Value change of left LO from frames 4565 to 4670 where left departure occurs. (c) Right departure detection result. (d) Images of left departure detection.

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