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This paper describes a three-dimensional image recognition system developed to recognize road boundaries and obstacles. Based on stereoscopy, the system can detect two white lane marks, two fences along the road and as many as six obstacles simultaneously within 0.1 second. This system is effective during night, and bright sunny days which cause strong shadows. It can also work under counter-light, and adjust to the rapid change of brightness.
Saneyoshi et al. (Wed,) studied this question.