  We present a robust and real time approach to lane marker detection in urban
streets. It is based on generating a top view of the road, filtering using
selective oriented Gaussian filters, using RANSAC line fitting to give initial
guesses to a new and fast RANSAC algorithm for fitting Bezier Splines, which is
then followed by a post-processing step. Our algorithm can detect all lanes in
still images of the street in various conditions, while operating at a rate of
50 Hz and achieving comparable results to previous techniques.
