Road curve fitting by multi-resolution analysis

In this paper, we propose a new method for road curve fitting in urban environment based on multi-resolution analysis. The main technical contributions of the proposed method are the reconstructed approximation on the basis of the wavelet decomposition structure for curve fitting and the de-noising via the wavelet coefficients thresholding. The carried out experimental tests show promising results in a series of continuous driving images, validating our suggested method can fit the road curve effectively and computational efficiently.