Computer Engineering Paper Massimo Bertozzi and Alberto Broggi, Real-Time Lane and Obstacle Detection on the GOLD System, In Ichiro Masaky, editor, Proceedings IEEE Intelligent Vehicles'96, pages 213-218, Tokyo, Japan, September 18-20 1996. IEEE Computer Society,
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This paper describes the GOLD (Generic Obstacle and Lane Detection) system, a stereo vision-based hardware and software architecture to be used on moving vehicles to increment road safety: 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).

For more information send email to broggi@CE.UniPR.IT