Completely unstructured road detection for pseudo-color space
伪彩色空间完全非结构化道路检测方法

Detecting completely unstructured road may improve the adaptability for different environments,which is crucial for intelligent autenomous vehicle driving. In this paper, a road detection algorithm combined with cubic spline curve model and block sub-region growing model (CSCM_BSG) is proposed for true-color information of real-time road images.The algorithm applies the cubic spline interpolation to achieve the pseudo-color mapping at first, and accomplishes road region detection using the sub-region growing method combining the primary and secondary pseudo-hues with textures.The tests and comparative experiments on field images show that the algorithm is not only more accurate and applicable in real-time for road regions, but also has stronger counter-interference capability for shadows, water stains.