A method of detecting at least one road dividing object, comprising: a first obtainment step (S210) of obtaining an image including a road region; a region detection step (S220) of detecting at least one road dividing object region in the road region of the image; a feature point detection step (S230) of detecting plural feature points of the at least one road dividing object in the at least one road dividing object region; and a determination step (S240) of determining, based on the plural feature points of the at least one road dividing object in the at least one road dividing object region, the at least one road dividing object, wherein the region detection step (S220) includes: a first sub step of generating noticeable sub regions in the image; a second sub step of obtaining an image feature of each of the noticeable sub regions, the image feature includes a grayscale feature, a gradient feature, or a disparity feature; a third sub step of selecting, based on the image features of the noticeable sub regions, plural sub regions including the at least one road dividing object from the noticeable sub regions and, by utilizing a predetermined sub region classifier, determining, based on the image feature of each of the noticeable sub regions, whether the corresponding noticeable sub region belongs to the plural sub regions including the at least one road dividing object; and a fourth sub step of generating, based on the plural sub regions, the at least one road dividing object region. a first obtainment step (S210) of obtaining an image including a road region; a region detection step (S220) of detecting at least one road dividing object region in the road region of the image; a feature point detection step (S230) of detecting plural feature points of the at least one road dividing object in the at least one road dividing object region; and a determination step (S240) of determining, based on the plural feature points of the at least one road dividing object in the at least one road dividing object region, the at least one road dividing object, wherein the region detection step (S220) includes: a first sub step of generating noticeable sub regions in the image; a second sub step of obtaining an image feature of each of the noticeable sub regions, the image feature includes a grayscale feature, a gradient feature, or a disparity feature; a third sub step of selecting, based on the image features of the noticeable sub regions, plural sub regions including the at least one road dividing object from the noticeable sub regions and, by utilizing a predetermined sub region classifier, determining, based on the image feature of each of the noticeable sub regions, whether the corresponding noticeable sub region belongs to the plural sub regions including the at least one road dividing object; and a fourth sub step of generating, based on the plural sub regions, the at least one road dividing object region. a first sub step of generating noticeable sub regions in the image; a second sub step of obtaining an image feature of each of the noticeable sub regions, the image feature includes a grayscale feature, a gradient feature, or a disparity feature; a third sub step of selecting, based on the image features of the noticeable sub regions, plural sub regions including the at least one road dividing object from the noticeable sub regions and, by utilizing a predetermined sub region classifier, determining, based on the image feature of each of the noticeable sub regions, whether the corresponding noticeable sub region belongs to the plural sub regions including the at least one road dividing object; and a fourth sub step of generating, based on the plural sub regions, the at least one road dividing object region. <EOS>