Lane and road detection based on colorful image
基于彩色图像的非结构化道路检测

A new method of structureless road detection based on colorful image was presented. The image was first divided into several small foursquare areas. And then, the characteristic information of road was gotten from the area which is assumed to be the road area. According to these information, the small foursquare areas could be classified. Using the method of self-motion threshold segmentation, each of the foursquare areas which include the shoulder of a road, were segmented into the road area and the other area. Lastly, the spots inside the road and the disconnected areas outside the road were eliminated. This method avoids analyzing each pixel of image. It performs with less calculation and higher speed, and satisfies robust real-time basically. It also resists the effect of shadows and water marks.