A Linear Model Based Road Identification Algorithm
一种基于直线模型的道路识别算法研究

In the paper,a road edge identification algorithm is developed .The new idea of this method is touse natural road edge ,as well as the whites trip for road information acquisition .Then atural roade dge will notbee as ilypolluted like the white lane maker do ,soitindicates bettera daptability .Inthealgorithm ,weuseboth the pixelfeature and the framefeaturetoidentify theroadedge ,which is referred to as the global road model.Be cause several road constrainsisused toensure the roadedgede tection ,the algorith misimmune to the influence of thei magedistur bance .The algorithm of theroaded geidentifi cationin cludes two stages:initializationdetection and tracing detection .The in itialization stagedetects the roadedge from the global roadimage . The tracealgorith muses there gion of interest (ROI)to limitdete ctingarea ,which can save muchtime .Inorder to giveamea sure of there liability of the road detecting result,this paper presents a road edge identification esti mation function ,which canesti mate the reliability of the road edge .