4Wang Yue, Shen Dinggang, Teoh E K. Lane detection and tracking using B - Snake[J ]. Image Vision Computing, 2004, 22(4) :269 - 280.
5Wang Y, Shen D, Teoh E K. Lane detection using spline model[J]. Pattern Recognition Letters, 2000,21 (8) : 677 - 689.
6Canny J. A Computational Approach to Edge Detection[ J ]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1986,8(6) :679 - 698.
7Freeman H. Boundary encoding and processing[M]. New York: Academic Press, 1970 : 241 - 266.
8Yuan Jianxing, Suen C Y. An optimal O(n) algorithm for identifying line segments from a sequence of chain codes[J]. Patter Recognition, 1995,28(5) : 635 - 646.
9Andrew H, Lai S, Nelson H, et al. Lane detection by orientation and length discrimination[J]. IEEE Transactions On Systems, Man and Cybernetics,2000,30(4) :539 - 548.
10CANNY J.A computational approach to edge detection[J].IEEE Trans on Pattern Analysis and Machine Intelligence,1986,8(6):679-698.
