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We describe an algorithm by which an autonomous land vehicle is able to navigate along roads utilising lane boundary markings. This is achieved by defining a six-parameter model of the lane markings and fitting this to the processed monochrome image using non-linear least squares techniques. By qualitative as well as quantitative analysis over many hundreds of images the model used is shown to be justified, resulting in a very robust method, finding lane markings to sub-pixel accuracy.doi:10.1007/978-1-4471-3201-1_17 fatcat:ycwlojyunnd2boapqdbevlbdyy