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The paper is on a vital topic. For increase in value of the paper statement the improvement of an illustrative material is required.
On fig. 3 and 8 the system of vehicle co-ordinates is unsuccessfully shown.
In other drawings basically are shown (small and is badly distinguishable) separate steps of algorithms, with reference to separate image. At the same time, the important question discussed in the paper, tracking of multistrip road is.
To illustrate possibilities of described algorithms, it is necessary to show change of results at transition from one image to another in the course of vehicle movement.
It is thus important to specify vehicle speed.
Other actual problem mentioned in the paper, association of LIDAR and mono-videocameras data is. From the point of view of practical application here it is necessary to give more attention to the description of corresponding points finding in the course of such system calibration. Whether corresponding points defined manual? With what accuracy? What resultant accuracy turns out at combination of real images and LIDAR data?
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Comments to the Author
contribution: Free space segmentation based on LIDAR, Initializing tracking without knowing the ego-motion information.
A global evaluation of the performance of the algorithm is obtained on real driving situation in urban scenarios (by using manually ground-true). It will be interesting to evaluate (independently , not Globally ) the behavior of the proposed method with respect to several conditions as : discontinuous lane markings, illumination changes, and shallows or occlusions.
Is it possible to evaluate with the experiments , the benefit of the combination of the two source of information ( lidar and image)?
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