设计了一种基于双车道的结构模板及其模板匹配度函数，并将它用于单摄像机跟踪高速公路的道路标志线。

Projected a kind of template and its evaluation function based on the double-lane structure, which were used to follow the marking line by monocular camera on the highway.

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该方法根据高速公路上道路标志线平行、等宽等特征，将车载摄像机获取的道路图像投影到道路平面上，再运用这些特征来提取标志线像素。

First the vision navigation system maps the original image to road plane. Then it abstracts lane marking pixels exploiting the highway road marking line feature such as parallel, equal-width.

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