“…Contributions of this paper: This paper addresses particle-filterbased lane detectors as described, for example, in [14,15,31] that calculate sequences of isolated points for estimating lane borders; these detectors use a generic lane model and they are in particular designed for more challenging input situations such as suburban roads, countryside roads, inner-city roads where a lane border may be defined by parking cars, a change in surface texture (e.g. unpaved road and lawn), and so forth.…”