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Lane Boundary Tracking for an Autonomous Road Vehicle

We describe an algorithm by which an autonomous land vehicle is able to navigate along roads utilising lane boundary markings. This is achieved by defining a six-parameter model of the lane markings and fitting this to the processed monochrome image using non-linear least squares techniques. By qualitative as well as quantitative analysis over many hundreds of images the model used is shown to be justified, resulting in a very robust method, finding lane markings to sub-pixel accuracy.