Computer Engineering Paper Alberto Broggi, Robust Real-Time Lane and Road Detection in Critical Shadow Conditions, In Proceedings IEEE International Symposium on Computer Vision, Coral Gables, Florida, November 19-21 1995. IEEE Computer Society,
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This paper presents the vision-based road detection system currently installed onto the MOB-LAB land vehicle. Based on a geometrical transform and on a fast morphological processing, the system is capable to detect road markings even in extremely severe shadow conditions on flat and structured roads. The use of a special-purpose massively architecture (PAPRICA) allows to achieve a processing rate of about 17 Hz.

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