{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,28]],"date-time":"2026-04-28T17:46:58Z","timestamp":1777398418960,"version":"3.51.4"},"reference-count":49,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2019,9,18]],"date-time":"2019-09-18T00:00:00Z","timestamp":1568764800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61403259"],"award-info":[{"award-number":["61403259"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51577120"],"award-info":[{"award-number":["51577120"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Science and Technology Research and Development Foundation of Shenzhen","award":["JCYJ20170302142107025"],"award-info":[{"award-number":["JCYJ20170302142107025"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Lane detection plays an important role in improving autopilot\u2019s safety. In this paper, a novel lane-division-lines detection method is proposed, which exhibits good performances in abnormal illumination and lane occlusion. It includes three major components: First, the captured image is converted to aerial view to make full use of parallel lanes\u2019 characteristics. Second, a ridge detector is proposed to extract each lane\u2019s feature points and remove noise points with an adaptable neural network (ANN). Last, the lane-division-lines are accurately fitted by an improved random sample consensus (RANSAC), termed the (regional) gaussian distribution random sample consensus (G-RANSAC). To test the performances of this novel lane detection method, we proposed a new index named the lane departure index (LDI) describing the departure degree between true lane and predicted lane. Experimental results verified the superior performances of the proposed method over others in different testing scenarios, respectively achieving 99.02%, 96.92%, 96.65% and 91.61% true-positive rates (TPR); and 66.16, 54.85, 55.98 and 52.61 LDIs in four different types of testing scenarios.<\/jats:p>","DOI":"10.3390\/s19184028","type":"journal-article","created":{"date-parts":[[2019,9,18]],"date-time":"2019-09-18T11:01:15Z","timestamp":1568804475000},"page":"4028","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["A Lane Detection Method Based on a Ridge Detector and Regional G-RANSAC"],"prefix":"10.3390","volume":"19","author":[{"given":"Zefeng","family":"Lu","sequence":"first","affiliation":[{"name":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2881-7093","authenticated-orcid":false,"given":"Ying","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Shan","sequence":"additional","affiliation":[{"name":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Licai","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xingzheng","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianhao","family":"Shen","sequence":"additional","affiliation":[{"name":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,9,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"727","DOI":"10.1007\/s00138-011-0404-2","article-title":"Recent progress in road and lane detection: A survey","volume":"25","author":"Hillel","year":"2014","journal-title":"Mach. 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