A lane detection system includes a non-volatile memory storing machine-readable instructions and an image processor capable of receiving a road image. The image processor, when executing the machine-readable instructions, is capable of: (i) processing the road image to identify a lane candidate within a lane-existing region of the road image, the lane-existing region having (a) a near subregion including an imaged road region nearer to the vehicle and (b) a far subregion including an imaged road region farther from the vehicle, (ii) verifying the lane candidate as a true lane candidate when a minimum distance between (a) a line fit to a portion of the lane candidate in the near subregion and (b) a predetermined reference point in the road image is less than a neighborhood distance; and (iii) extending the true lane candidate into the far subregion to form a detected lane marker demarcating the lane marker.