Relating local vision measurements to global navigation satellite systems using waypoint based maps

Roughly 50% of all the traffic fatalities are due to lane departures [2]. There is great interest in advanced driver assistance systems that prevent unintended lane departure. Currently there are passive lane detection systems that warn the driver of unintended land departure know as land departure warning (LDW) systems which rely on cameras to track lane markings. LDW systems base solely off camera measurements are prone to failures due to poor environmental lighting or poor lane marking coverage. Combining the measurements from multiple sensors will create a much more robust LDW system that is not prone to failures.