Abstract: Systems and methods for lane detection that are capable of providing a warning to a driver of a vehicle in case the vehicle deviates from the detected lane. The method includes receiving a plurality of images captured by an image capturing device, pre-processing the received plurality of images to obtain a Region of Interest (RoI) in the plurality of images, and obtain one or more edge features over the RoI, extracting one or more ridge features based on processing of the RoI, detecting an indication of a footpoint of one or more probable lane lines based on the extracted ridge features, detecting a potential lane based on the footpoint of the probable lane lines, applying a mask on the one or more edge features to obtain relevant edges, and detecting a final lane based on the extracted relevant edges and based on the footpoint of the probable lane lines.