Vision-Based Lane Departure Detection Using a Stacked Sparse Autoencoder

Figure 9

LO computation: (a) description of our LO in the world coordinates, (b) description of our LO in the image pixel coordinates to the left side, (c) description of our LO in the image pixel coordinates of normal driving, and (d) description of our LO in the image pixel coordinates to the right side.

(a)

(b)

(c)

(d)