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Robust Lane Detection in Shadows and Low Illumination Conditions using Local Gradient Features

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Figure

Figure 2: Graphical representation for the process of obtaining charac-teristic spectra
Figure 3: Spectrum matching (Sm) plot generated along the horizontal scan line on the gradient image
Figure 4: Image gradient with three scan lines and their respective Sm plots with maxima points
Figure 5. Computed lane markings(blue colored box), and
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