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This paper describes a method for the lane detection and street type classification from range images generated by a single line laser range finder mounted at the front of a car. Additionally, an environment reconstruction is done. Objects like cars and cycles are classified and tracked. For lane detection, they are removed from the range image in order to reduce disturbances to the algorithm. The lane is described by its type, width, curvature, and relative position to the car. This information can be used for driver assistance systems like lane departure warning.
Sparbert et al. (Wed,) studied this question.