Concerning the problem of lane detection in the Lane Departure Warning (LDW) system, this paper presents one method to detect the region of lane marking based on the CIELab color features clustering. Color space can provide us more precious information than gray scale. This algorithm proves that it is feasible to recognize lane marking by using color clustering. According to the geometry feature of road, quadratic curve is adopted to match the lane. And also, least square method is proposed to depict the parameters of quadratic curve.
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Ma et al. (2010) studied this question.