A Fast Edge Based Unstructured Road Detection Algorithm
一种快速的基于边缘的道路检测算法

Road detection is one of the basic tasks for automatic guidance.A new approach to detect the unstructured road is proposed.It is based on the fundamental hypothesis that the contour of a road is made up of many connected line sections with some length.Here,line sections can be got by Hough Transform,which accumulates edge points in the image and determine the position of the road contour.But image edges include not only the road contour but also many other kinds of edges,such as edges of shadow,plant and so on.If these kinds of edges being considered,the al- gorithm's efficiency and accuracy will be impaired greatly.Some rules are used to eliminate the edges of non-road con- tour before accumulating.Besides when the road has been found in one frame,we can infer ROI(the region of interest) road to decrease the searching scope and fast locate the road edge in the latter frame,which can furthermore improve the algorithm's efficiency.Lots of experiments result shows that it is fast and robust for roads detection at a park of the campus.