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Vision-based Lane departure warning system (LDWS) has been widely used in modern vehicles to improve drivability and safety. In this paper, a novel LDWS with precise positioning is proposed. Calibration strategy is first presented through a 3D camera imaging model with only three parallel and equally spaced lines, where the three angles of rotation for the transformation from the camera coordinate system to the world coordinate system are deduced. Then camera height is calculated compared to the previous works using a measured one with potential errors. A criterion for lane departure warning with only one of the two lane-markings is proposed to estimate both yaw angle and distance between the lane-markings and the vehicle. Experiments show that calibration strategy can be easily set up and achieve an average of 98.95% accuracy on the lane departure assessment.

Lane Departure Assessment via Enhanced Single Lane-Marking