Lane detection evaluation

 

Pitch angle evaluation

 

 

Pitching.avi

 

Pitch angle comparison

 

Highway behavior evaluation

 

Highway.avi

 

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

 

Urban.avi

 

 

 

 

 

Comparison with a Kalman filter solution

 

Left side of the picture the PF solution

Pf-kf.avi

 

Behavior in a crowded urban scenario

 

Crowded.avi

 

Experimental model linear variable width model

 

Varwidth.avi

 

Comparison between width variation estimated by lane detection, and the differentiation of estimated width against traveled space