論文Real-Time Lane and Obstacle Detection on the global System

abstract GOLD (Generic Obsta- cle and Lane Detection) system The GOLD system addresses both lane detection and obstacle detection at the same time 它既可以 檢測一般性障礙物（對對稱性或形狀沒有限制）， 也可以檢測結構化環境中的車道位置（帶有塗漆的車道標

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