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As a side effect, the dashed midline markings are detected in this module, too.
Though all of the lane markings are detected by Canny algorithm, there are more pixels out of lanes remain.
Accordingly, road lane markings are detected and used as the guidelines that drive the vehicle searching process (see Figure 4).
Lane markings are detected using gradient information in combination with a local thresholding method which is adapted to the width of the projected lane markings.
In case no lane markings are detected by the system, fixed lanes corresponding to a straight road model are assumed instead.
In case that no lane markings are detected, a basic region of interest is used instead covering the front, rear, and side parts of the vehicle.
Embedded at the top of the windshield and rear window are cameras that track the road markings and detect road signs.
Then, clothoid curves are fitted to the detected markings.
Especially objects from the dashed lane markings that were detected as vehicles erroneously, may still remain in tracking.
Midline markings, which were detected by the roadside identification module based on the dynamical threshold image, are erased, too.
Another explanation is that for the automatically detected markings, it was only possible to estimate the coordinates for local feature extraction based on the location of both eyes.
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