@article{ref1,
title="CLARK: a heterogeneous sensor fusion method for finding lanes and obstacles",
journal="Image and vision computing",
year="2000",
author="Beauvais, M. and Lakshmanan, S.",
volume="18",
number="5",
pages="397-413",
abstract="This paper describes Combined Likelihood Adding Radar Knowledge (CLARK), a new method for detecting lanes and obstacles by fusing information from two forward-looking vehicle mounted sensors--vision and radar. CLARK has three stages: (1) obstacle detection using a novel template matching approach; (2) lane detection using a modified version of the Likelihood Of Image Shape algorithm; (3) simultaneous estimation of both obstacle and lane positions by locally maximizing a combined likelihood function.Experimental results illustrating the efficacy of these components are presented. CLARK detects the position of lanes and obstacles accurately, even under significantly noisy conditions.<p />",
language="",
issn="0262-8856",
doi="10.1016/S0262-8856(99)00035-9",
url="http://dx.doi.org/10.1016/S0262-8856(99)00035-9"
}