Automatic Detection and Classification of Road, Car, and Pedestrian Using Binocular Cameras in Traffic Scenes with a Common Framework

Figure 9

Typical road pavement detection results. (1) Original image (left). (2) Initial road contour for NT-RD method. (3) Initial road contour for ours. (4) Road detection result for NT-RD method. (5) Road detection result for ours.

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