Fig. 1. Active infrared filter imaging system

Fig. 2. Spectral response curve of CCD camera

Fig. 3. Setup for around-view imaging. (a) Calibration model; (b) around-view image

Fig. 4. Process of lane detection

Fig. 5. Procedure for lane detection. (a) Segmentation of road background; (b) left and right edge point; (c) clustering result

Fig. 6. Template of lane marking

Fig. 7. Contrast of imaging effect. (a) Imaging effect of color CCD in daytime; (b) imaging effect of infrared filter in daytime; (c) imaging effect of color CCD in night; (d) imaging effect of infrared filter in night

Fig. 8. Results of lane detection. (a)(b) Arrows; (c)(d) words; (e)(f) guide lines; (g)(h) covered by cars; (i)-(l) changing lanes

Fig. 9. Lane detection results for 1000 consecutive frames