Multi-lane detection in urban driving environments using conditional random fields

This is the refactored version from the original source codes. Due to some subtle changes, the codes doesn't work the same as the original implementation.

Requirement:

OpenCV 3.1.0

Reference

please cite the following paper when you use the source codes.

Junhwa Hur and Seung-Nam Kang and Seung-Woo Seo, "Multi-lane detection in urban driving environments using conditional random fields", Intelligent Vehicles Symposium (IV), 2013