In this paper a novel spline-based multi-lane detection and tracking system is proposed. Reliable lane detection and tracking is an important component of lane departure warning systems, lane keeping support systems or lane change assistance systems. The major novelty of the proposed approach is the usage of the so-called Catmull-Rom spline in combination with the extended Kalman filter tracking. The new spline-based model enables an accurate and flexible modeling of the lane markings. At the same time the application of the extended Kalman filter contributes significantly to the system robustness and stability. There is no assumption about the parallelism or the shapes of the lane markings in our method. The number of lane markings is also not restrained, instead each lane marking is separately modeled and tracked. The system runs on a standard PC in real time (i.e. 30 fps) with WVGA image resolution (752 × 480).The test vehicle has been driven on the roads with challenging scenarios, like worn out lane markings, construction sites, narrow corners, exits and entries of the highways, etc., and good performance has been demonstrated. The quantitative evaluation has been performed using manually annotated video sequences.
Representing proof assistant libraries in a way that allows further processing in other systems is becoming increasingly important. It is a critical missing link for integrating proof assistants both with each other or with peripheral tools such as IDEs or proof checkers. Such representations cannot be generated from library source files because they lack semantic enrichment (inferred types, etc.) and only the original proof assistant is able to process them. But even when using the proof assistant's internal data structures, the complexities of logic, implementation, and library still make this very difficult.We describe one such representation, namely for the library of Coq, using OMDoc theory graphs as the target format. Coq is arguably the most formidable of all proof assistant libraries to tackle, and our work makes a significant step forward.On the theoretical side, our main contribution is a translation of the Coq module system into theory graphs. This greatly reduces the complexity of the library as the more arcane module system features are eliminated while preserving most of the structure. On the practical side, our main contribution is an implementation of this translation. It takes the entire Coq library, which is split over hundreds of decentralized repositories, and produces easily-reusable OMDoc files as output.
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