Key points are not available for this paper at this time.
This paper describes the GOLD (generic obstacle and lane detection) system, a stereo vision-based hardware and software architecture developed to increment road safety of moving vehicles: it allows detection of both generic obstacles (without constraints on symmetry or shape) and the lane position in a structured environment (with painted lane markings). It has been implemented on the PAPRICA system and works at a rate of 10 Hz.
Bertozzi et al. (2002) studied this question.