Real-Time Lane and Obstacle Detection on the System ∗

@inproceedings{Bertozzi1996RealTimeLA,
  title={Real-Time Lane and Obstacle Detection on the System ∗},
  author={Massimo Bertozzi and Alberto Broggi},
  year={1996}
}
This paper describes the GOLD (Generic Obstacle and Lane Detection) system, a stereo vision-based hardware and software architecture developed to increment road safety of moving vehicles: it allows to detect both generic obstacles (without constraints on symmetry or shape) and the lane position in a structured environment (with painted lane markings). It has been implemented on the PAPRICA system and works at a rate of 10 Hz. 
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