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Three methods of detecting road edges in millimeterwaue radar images are presented i n this paper. All of t h e m are based o n deformable template priors and rand o m field likelihoods. T h e first method is formulated in a Bayesian setting and employs a n adaptive M A P esti- mate. T h e second method is a modification of the first, using a novel weighting scheme. T h e third method is based o n a three-region indicator matrix which is used to impose the non-linear constraints implicit o ndoi:10.1109/icip.1997.648101 dblp:conf/icip/MaLH97 fatcat:5pv7rs6qbnc5joxvhplfms3ida