Lane detection evaluation
Pitch angle
evaluation
Pitch angle comparison
Highway behavior
evaluation
Width versus frame number. Width is in millimeters.
Horizontal curvature (in m-1) versus frame number
Lateral offset (distance of the vehicle from lane center, in mm) versus frame number
Yaw angle (in degrees) versus frame number
Urban behavior
evaluation
Comparison with a
Kalman filter solution
Left side of the picture – the PF solution
Behavior in a crowded
urban scenario
Experimental model – linear
variable width model
Comparison between width variation estimated by lane detection, and the differentiation of estimated width against traveled space