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A method for detection and stereoscopic measuring lane markers for safety driver assistance was proposed. Firstly, it was concerned on selecting an appropriate limited region of interest by OTSU segmentation, which would be candidate areas for lane boundaries detection by Sobel and piecewise fitting. Results of lane detection were combined with calibrated camera parameters for measuring distance between lane and ego car.Experiments show that lane markers can be detected correctly although some situations are fade. In order to detecting and measuring lane markers more precisely, several characteristics of test environments need to be considered in further.

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