Abstract Lane detection (LD) under different illumination conditions is a vital part of lane departure warning system and vehicle localization which are current trends in the future smart cities. Recently. vision-based methods are proposed to detect lane markers in different road situations including abnormal marker cases. However. https://www.alarecre.com/Wizarding-World-Harry-Potter-Scar-and-Glasses-iPhone-13-Pro-MagSafe-Case-p90262/