Deep module and fitting module system and method for motion-based lane detection with multiple sensors

A system for lane detection, the system comprising:

• an internet server, comprising:
• an I/O port, configured to transmit and receive electrical signals to and from a client device;
• a memory;
• one or more processing units;
• and
• one or more programs stored in the memory and configured for execution by the one or more processing units, the one or more programs including instructions for:
• generating a ground truth;
• off-line training a lane detection algorithm by using the ground truth, the lane detection algorithm using parameters that express a lane marking in an arc;
• on-line generating a predicted lane marking for a current view;
• comparing the predicted lane marking against the ground truth;
• and
• off-line refining the lane detection algorithm by using the lane template associated with the current view to generate an improved lane template used for improved lane detection of a next view;
• wherein, a detected lane map is generated relative to a moving vehicle using the improved lane template and the predicted lane marking.