AbstractBy the term “personal vehicle,” we mean a simple and lightweight vehicle expected to emerge as a personal ground transportation device. The motorcycle, electric wheelchair, and motor‐powered bicycle are examples of the personal vehicle and have been developed for personal transportation use. Recently, a new type of intelligent personal vehicle called the Segway has been developed, which is controlled and stabilized by using on‐board intelligent multiple sensors. The demand for such personal vehicles is increasing: (1) to enhance human mobility, (2) to support mobility for elderly persons, and (3) to reduce environmental load. With the rapid growth of the personal vehicle market, the number of accidents caused by human error is also increasing. These accidents are associated with driving capabilities; to enhance or support driving capabilities as well as to prevent accidents, intelligent assistance is necessary. One of the most important elementary functions for personal vehicles is robust lane detection. In this paper, we develop a robust lane detection method for personal vehicles in outdoor environments. The proposed lane detection method employs a 360° omnidirectional ca
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