J. Mccall and M. Trivedi, Video-Based Lane Estimation and Tracking for Driver Assistance: Survey, System, and Evaluation, IEEE Transactions on Intelligent Transportation Systems, vol.7, issue.1, pp.20-37, 2006.
DOI : 10.1109/TITS.2006.869595

V. Kastrinaki, M. Zervakis, and K. Kalaitzakis, A survey of video processing techniques for traffic applications, Image and Vision Computing, vol.21, issue.4, pp.359-381, 2003.
DOI : 10.1016/S0262-8856(03)00004-0

B. Nassu and M. Ukai, Rail extraction for driver support in railways, 2011 IEEE Intelligent Vehicles Symposium (IV), pp.83-88, 2011.
DOI : 10.1109/IVS.2011.5940410

F. Maire, Vision based anti-collision system for rail track maintenance vehicles, " in Advanced Video and Signal Based Surveillance, AVSS 2007. IEEE Conference on, sept, pp.170-175, 2007.

F. Kaleli and Y. Akgul, Vision-based railroad track extraction using dynamic programming, " in Intelligent Transportation Systems, ITSC '09. 12th International IEEE Conference, pp.1-6, 2009.

F. Maire and A. Bigdeli, Obstacle-free range determination for rail track maintenance vehicles, 2010 11th International Conference on Control Automation Robotics & Vision, pp.2172-2178, 2010.
DOI : 10.1109/ICARCV.2010.5707923

J. Canny, A computational approach to edge detection Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.8, issue.6, pp.679-698, 1986.

R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2004.
DOI : 10.1017/CBO9780511811685

K. Choi, K. Min, S. Lee, W. Park, Y. Seo et al., Lane tracking in hough space using kalman filter

S. Beucher and M. Bilodeau, Road segmentation and obstacle detection by a fast watershed transformation, Proceedings of the Intelligent Vehicles '94 Symposium
DOI : 10.1109/IVS.1994.639531

. Annexe, Publications Rail and turnout detection using gradient information and template matching

S. Ra-r&d-92320-chatillon and F. J. , corsino-espino@siemens.com Bogdan Stanciulescu Robotic Center Mines ParisTech 75272 Paris, France bogdan.stanciulescu@mines-paristech

J. Mccall and M. Trivedi, Video-Based Lane Estimation and Tracking for Driver Assistance: Survey, System, and Evaluation, IEEE Transactions on Intelligent Transportation Systems, vol.7, issue.1, pp.20-37, 2006.
DOI : 10.1109/TITS.2006.869595

V. Kastrinaki, M. Zervakis, and K. Kalaitzakis, A survey of video processing techniques for traffic applications, Image and Vision Computing, vol.21, issue.4, pp.359-381, 2003.
DOI : 10.1016/S0262-8856(03)00004-0

B. Nassu and M. Ukai, Rail extraction for driver support in railways, 2011 IEEE Intelligent Vehicles Symposium (IV), pp.83-88, 2011.
DOI : 10.1109/IVS.2011.5940410

F. Maire, Vision based anti-collision system for rail track maintenance vehicles, " in Advanced Video and Signal Based Surveillance, AVSS 2007. IEEE Conference on, sept, pp.170-175, 2007.

F. Kaleli and Y. Akgul, Vision-based railroad track extraction using dynamic programming, " in Intelligent Transportation Systems, ITSC '09. 12th International IEEE Conference, pp.1-6, 2009.

F. Maire and A. Bigdeli, Obstacle-free range determination for rail track maintenance vehicles, 2010 11th International Conference on Control Automation Robotics & Vision, pp.2172-2178, 2010.
DOI : 10.1109/ICARCV.2010.5707923

URL : http://eprints.qut.edu.au/37246/1/c37246.pdf

M. A. Fischler and R. C. Bolles, Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.
DOI : 10.1145/358669.358692

R. Brunelli, Template Matching Techniques in Computer Vision: Theory and Practice, 2009.
DOI : 10.1002/9780470744055

N. Dalal and B. Triggs, Histograms of Oriented Gradients for Human Detection, 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05), pp.886-893, 2005.
DOI : 10.1109/CVPR.2005.177

URL : https://hal.archives-ouvertes.fr/inria-00548512

J. Mccall and M. Trivedi, Video-Based Lane Estimation and Tracking for Driver Assistance: Survey, System, and Evaluation, IEEE Transactions on Intelligent Transportation Systems, vol.7, issue.1, pp.20-37, 2006.
DOI : 10.1109/TITS.2006.869595

V. Kastrinaki, M. Zervakis, and K. Kalaitzakis, A survey of video processing techniques for traffic applications, Image and Vision Computing, vol.21, issue.4, pp.359-381, 2003.
DOI : 10.1016/S0262-8856(03)00004-0

J. Espino and B. Stanciulescu, Rail extraction technique using gradient information and a priori shape model, 2012 15th International IEEE Conference on Intelligent Transportation Systems, pp.1132-1136, 2012.
DOI : 10.1109/ITSC.2012.6338870

M. A. Fischler and R. C. Bolles, Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.
DOI : 10.1145/358669.358692

A. Agarwal, C. V. Jawahar, and P. J. Narayanan, A Survey of Planar Homography Estimation Techniques Centre for Visual Information Technology, International Institute of Information Technology, 2005.

R. Brunelli, Template Matching Techniques in Computer Vision: Theory and Practice, 2009.
DOI : 10.1002/9780470744055

N. Dalal and B. Triggs, Histograms of Oriented Gradients for Human Detection, 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05), pp.886-893, 2005.
DOI : 10.1109/CVPR.2005.177

URL : https://hal.archives-ouvertes.fr/inria-00548512

S. Ando, Consistent gradient operators Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.22, issue.3, pp.252-265, 2000.

C. Hsu and C. Lin, A comparison of methods for multiclass support vector machines, 2002.

. Bibliographie and . Abramson, Yet Even Faster (YEF) real-time object detection. International journal of intelligent systems technologies and applications, p.102112, 2007.

. Aksoy, An industrial visual inspection system that uses inductive learning, Journal of Intelligent Manufacturing, vol.15, issue.4, pp.569-574, 2004.
DOI : 10.1023/B:JIMS.0000034120.86709.8c

]. S. Ando, Consistent gradient operators. Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.22, issue.3, p.252265, 2000.

. Arrospide, HOG-like gradient-based descriptor for visual vehicle detection, 2012 IEEE Intelligent Vehicles Symposium, pp.2012-106
DOI : 10.1109/IVS.2012.6232119

H. Dana and . Ballard, Generalizing the Hough transform to detect arbitrary shapes, Pattern recognition, vol.13, issue.32, pp.111122-111140, 1981.

. Barczak, Empirical evaluation of a new structure for AdaBoost, Proceedings of the 2008 ACM symposium on Applied computing , SAC '08, p.17641765, 2008.
DOI : 10.1145/1363686.1364109

. Bay, Tinne Tuytelaars et Luc Van Gool Surf : Speeded up robust features, Computer VisionECCV 2006, p.404417, 2006.

. Bdiri, Adaboost with "Keypoint Presence Features" for Real-Time Vehicle Visual Detection, 1273.

. Bertozzi, Vision-based intelligent vehicles: State of the art and perspectives, Robotics and Autonomous Systems, vol.32, issue.1, p.116, 2000.
DOI : 10.1016/S0921-8890(99)00125-6

. Bosch, Representing shape with a spatial pyramid kernel, Proceedings of the 6th ACM international conference on Image and video retrieval, CIVR '07, p.401408, 2007.
DOI : 10.1145/1282280.1282340

]. Bouguet, Complete Camera Calibration Toolbox for Matlab, 2006.

. Broggi, Multi-resolution vehicle detection using articial vision, Intelligent Vehicles Symposium, p.310314, 2004.

A. Bibliographie and . Broggi, Robust real-time lane and road detection in critical shadow conditions, 1995.

]. Brunelli, Template matching techniques in computer vision : Theory and practice, 2009.
DOI : 10.1002/9780470744055

. Carbonetto, Learning to Recognize Objects with Little Supervision, International Journal of Computer Vision, vol.73, issue.2, p.219237, 2008.
DOI : 10.1007/s11263-007-0067-7

URL : https://hal.archives-ouvertes.fr/inria-00548668

&. Cerri, ]. P. Grisleri, P. Cerri, and . Grisleri, Free Space Detection on Highways using Time Correlation between Stabilized Sub-pixel precision IPM Images, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.22232228-22232274, 2005.
DOI : 10.1109/ROBOT.2005.1570443

L. Chang, C. Chang, and . Lin, LIBSVM, ACM Transactions on Intelligent Systems and Technology, vol.2, issue.3, pp.27-2011, 2011.
DOI : 10.1145/1961189.1961199

&. Chen and . Wang, Qiang Chen et Hong Wang A Real-time Lane Detection Algorithm Based on a Hyperbola-Pair Model, Intelligent Vehicles SymposiumCité en, pp.510515-53, 2006.

. Choi, Vision-based fusion of robust lane tracking and forward vehicle detection in a real driving environment, International Journal of Automotive Technology, vol.19, issue.7, pp.653669-2012
DOI : 10.1007/s12239-012-0064-x

&. Dalal and . Triggs, Navneet Dalal et Bill Triggs Histograms of Oriented Gradients for Human Detection, CVPR, pp.886893-81, 2005.

. Delacour, La courbe ROC (receiver operating characteristic) : principes et principales applications en biologie clinique, Annales de biologie clinique, p.145154, 2005.

. Dharpure, Article : Counting Objects using Convolution based Pattern Matching Technique, International Journal of Applied Information Systems, vol.5, issue.8, p.1419, 2013.

&. Dominique and . Eric, Meize Dominique et Brassart Eric Calibration du capteur de vision omnidirectionnelle : SYCLOP, 1998.

. Dooze, Obstacle detection in front of automatic trains by linear stereo vision, Computers in Railways VI, pp.17-97, 1998.

. Espino, Safe navigating system for indoor environments, The 5th International Conference on Automation, Robotics and Applications, pp.419423-2011, 2011.
DOI : 10.1109/ICARA.2011.6144920

&. Fischler, A. Martin, R. C. Fischler, and . Bolles, Random sample consensus : a paradigm for model tting with applications to image analysis and, 1981.

. Fritsch, A new performance measure and evaluation benchmark for road detection algorithms, 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), pp.2013-2052
DOI : 10.1109/ITSC.2013.6728473

. Gangnet, Michel Gangnet, Didier Perny et Philippe Coueignoux Perspective mapping of planar textures, Computers & Graphics, vol.8, issue.2, pp.115123-115139, 1984.

. Garcia, Dedicated smart IR barrier for obstacle detection in railways, 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005., p.6, 2005.
DOI : 10.1109/IECON.2005.1568945

&. Geistler, . Bohringer, F. Geistler, and . Bohringer, Detection and classication of turnouts using eddy current sensors. Publication of, 2004.

. Gschwandtner, Track Detection for Autonomous Trains, Advances in Visual Computing, pp.42-48, 1928.
DOI : 10.1007/978-3-642-17277-9_3

. Hancock, Laser intensity-based obstacle detection, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), p.15411546, 1998.
DOI : 10.1109/IROS.1998.724817

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.175.82

&. Harris, M. Harris, and . Stephens, A Combined Corner and Edge Detector, Procedings of the Alvey Vision Conference 1988, p.50, 1988.
DOI : 10.5244/C.2.23

&. Hsu, C. Hsu, and . Lin, A Comparison of Methods for Multiclass Support Vector Machines, 2002.

. Jazayeri, Vehicle Detection and Tracking in Car Video Based on Motion Model. Intelligent Transportation Systems, IEEE Transactions on, vol.12, issue.2, p.583595, 2011.

&. Jung and . Kelber, A robust linear-parabolic model for lane following, Proceedings. 17th Brazilian Symposium on Computer Graphics and Image Processing, p.7279, 2004.
DOI : 10.1109/SIBGRA.2004.1352945

. Kaske, Lane boundary detection using statistical criteria, International Conference on Quality by Articial Vision, QCAV9, pages 2830. Citeseer, 1997.

. Kawamura, Smart camera network system for use in railway stations, 2011 IEEE International Conference on Systems, Man, and Cybernetics, pp.8590-2011
DOI : 10.1109/ICSMC.2011.6083647

&. Kolmogorov and . Zabih, Vladimir Kolmogorov et Ramin Zabih Multi camera scene reconstruction via graph cuts, Computer Vision ECCV 2002, p.8296, 2002.
DOI : 10.1007/3-540-47977-5_6

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.15.8999

. Labayrade, Real time obstacle detection in stereovision on non flat road geometry through "v-disparity" representation, Intelligent Vehicle Symposium, 2002. IEEE, p.646651, 2002.
DOI : 10.1109/IVS.2002.1188024

C. David and . Lee, Boosted Classier for Car Detection, 2007.

&. Lefaudeux, F. Nashashibi-2012-]-benjamin-lefaudeux, and . Nashashibi, Real-time visual perception : detection and localisation of static and moving objects from a moving stereo rig, 2012 15th International IEEE Conference on Intelligent Transportation Systems, pp.522-527, 2012.
DOI : 10.1109/ITSC.2012.6338872

URL : https://hal.archives-ouvertes.fr/hal-00759944

. Liu, Determination of camera location from 2-D to 3-D line and point correspondences. Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.12, issue.1, p.2837, 1990.

. Louahdi, Détection d'obstacles devant les véhicules de transports guidés. Utilisation d'un radar coopératif et d'un stéréoscope optique, Instrumentation Mesure Metrologie Capteurs et Traitement du signal pour les transports guidés, pp.81116-81133, 2002.

. Lowe, G. David, and . Lowe, Object recognition from local scale-invariant features The proceedings of the seventh IEEE, Computer vision, p.11501157, 1999.

. Lowe, G. David, and . Lowe, Distinctive Image Features from Scale-Invariant Keypoints, International Journal of Computer Vision, vol.60, issue.2, p.91110, 2004.
DOI : 10.1023/B:VISI.0000029664.99615.94

&. Maire and . Bigdeli, Frédéric Maire et Abbas Bigdeli Obstacle-free range determination for rail track maintenance vehicles, Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on, 2010.

. Massimo, Vision-based intelligent vehicles : State of the art and perspectives, Robotics and Autonomous Systems, vol.32, issue.1, pp.1-16, 2000.

S. Mockel, F. Scherer, F. Peter, and . Schuster, Multi-sensor obstacle detection on railway tracks, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683), p.4246
DOI : 10.1109/IVS.2003.1212880

S. A. Hussain, M. M. Samad, B. Y. Mustaa, and . Majlis, Implementation of inverse perspective mapping algorithm for the development of an automatic lane tracking system, TENCON 2004 IEEE Region 10 Conference, 2004.

. Nangtin, Video-based obstacle tracking for automatic train navigation, 2005 International Symposium on Intelligent Signal Processing and Communication Systems, p.2124, 2005.
DOI : 10.1109/ISPACS.2005.1595336

. Euro-ncap, EURO NCAP advanced : Autonomous Emergency Braking, 2013.

. Nieto, Stabilization of Inverse Perspective Mapping Images based on Robust Vanishing Point Estimation, 2007 IEEE Intelligent Vehicles Symposium, pp.315320-315366, 2007.
DOI : 10.1109/IVS.2007.4290133

. Nieto, Stabilization of Inverse Perspective Mapping Images based on Robust Vanishing Point Estimation, 2007 IEEE Intelligent Vehicles Symposium, p.315320, 2007.
DOI : 10.1109/IVS.2007.4290133

R. Jim and . Parker, Algorithms for image processing and computer vision, Wiley. com, 2010.

]. Pomerleau, RALPH: rapidly adapting lateral position handler, Proceedings of the Intelligent Vehicles '95. Symposium, p.506511, 1995.
DOI : 10.1109/IVS.1995.528333

]. Provost, Transports intelligents, automatisation des lignes de métro. Notes Module d, 2005.

. Puhlmann, Improvements on obstacle detection in the pantograph gauge due to the recognition of steady arms, IEEE Intelligent Vehicles Symposium, 2004, p.518521, 2004.
DOI : 10.1109/IVS.2004.1336437

. Rodriguez, Obstacle detection over rails using hough transform, Image, Signal Processing, and Articial Vision (STSIVA), 2012 XVII Symposium of, pp.317322-317366, 2012.

]. R. Ross, Track and turnout detection in video-signals using probabilistic spline curves, 2012 15th International IEEE Conference on Intelligent Transportation Systems, pp.294299-2012, 2012.
DOI : 10.1109/ITSC.2012.6338605

M. Ruder, F. Mohler, and . Ahmed, An obstacle detection system for automated trains, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683), p.180185
DOI : 10.1109/IVS.2003.1212905

. Salvi, A comparative review of camera calibrating methods with accuracy evaluation, Pattern Recognition, vol.35, issue.7, pp.1617-1635, 2002.
DOI : 10.1016/S0031-3203(01)00126-1

. Sasaki, On-board self-regulating automated vehicle operation system, 1999 IEEE 49th Vehicular Technology Conference (Cat. No.99CH36363), p.22982302, 1999.
DOI : 10.1109/VETEC.1999.778476

. Song, Vehicle detection by edgebased candidate generation and appearance-based classication, Intelligent Vehicles Symposium, 2008.

. Song, Detection of Stop Signs, CS 223B Project Report, 2008.

. Stallkamp, The German trac sign recognition benchmark : a multi-class classication competition, Marc Schlipsing Neural Networks (IJCNN) The 2011 International Joint Conference on, pp.14531460-2011, 2011.

. Stanciulescu, Amaury Breheret et Fabien Moutarde Introducing new adaboost features for real-time vehicle detection. arXiv preprint, 2009.

&. Suttorp, . Bucher-thorsten, T. Suttorp, and . Bucher, Robust vanishing point estimation for driver assistance, 2006 IEEE Intelligent Transportation Systems Conference, p.6, 2006.
DOI : 10.1109/ITSC.2006.1707444

. Tian, Vision Based Lane detection for Active Security in Intelligent Vehicle, 2006 IEEE International Conference on Vehicular Electronics and Safety, p.507511, 2006.
DOI : 10.1109/ICVES.2006.371644

. Tsai, Vehicle Detection Using Normalized Color and Edge Map, IEEE Transactions on Image Processing, vol.16, issue.3, p.850864, 2007.
DOI : 10.1109/TIP.2007.891147

&. Tzomakas, F. Von-seelen, R. Nueroinformatik, and . Citeseer, Christos Tzomakas et Werner von Seelen Vehicle detection in trafc scenes using shadows, IR-INI, 1998.

. Vazquez, Detection of moving objects in railway using vision, IEEE Intelligent Vehicles Symposium, 2004, p.872875, 2004.
DOI : 10.1109/IVS.2004.1336499

&. Vedaldi, ]. A. Fulkerson, B. Vedaldi, and . Fulkerson, Vlfeat, Proceedings of the international conference on Multimedia, MM '10, 2008.
DOI : 10.1145/1873951.1874249

V. Paul and M. Jones, Rapid object detection using a boosted cascade of simple features, Computer Vision and Pattern Recognition Proceedings of the 2001 IEEE Computer Society Conference on, 2001.

. Voisin, Détection et suivi de marquages de bords de voie par vision articielle, Journées Jeunes Chercheurs du Laboratoire Vision et Robotique, 2004.

. Wang, Research on Lane- Marking line based camera calibration, Vehicular Electronics and Safety ICVES. IEEE International Conference on, p.16, 2007.

]. Weiner, Linear pattern matching algorithms, 14th Annual Symposium on Switching and Automata Theory (swat 1973), p.111, 1973.
DOI : 10.1109/SWAT.1973.13

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.474.9582

. Yamashita, Development of Railway Obstacle Detection System. Mitsubishi Heavy Industries, Ltd, Technical Review, vol.33, issue.1, 1996.

&. Zaklouta and . Stanciulescu, Fatin Zaklouta et Bogdan Stanciulescu Warning trac sign recognition using a HOG-based Kd tree, Intelligent Vehicles Symposium (IV), pp.2011-77, 2011.

. Zaklouta, Trac sign classication using kd trees and random forests, Neural Networks (IJCNN) The 2011 International Joint Conference on, p.21512155, 2011.