An illumination robust road detection method based on color names and geometric information |
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| Affiliation: | 1. Guangxi Key Lab of Multi-source Information Mining & Security, Guangxi Normal University, Guilin 541004, China;2. Department of Computer Science, Guangxi Normal University, Guilin 541004, China;3. Guangxi Collaborative Innovation Center of Multi-source Information Integration and Intelligent Processing, Guangxi Normal University, Guilin 541004, China;1. Institute of Catalysis and Surface Chemistry, Polish Academy of Sciences, ul. Niezapominajek 8, 30-239 Cracow, Poland;2. Department of Theoretical Chemistry, Faculty of Chemistry, UMCS, pl. M. Curie-Sklodowskiej 3, 20-031 Lublin, Poland;3. Department of Biopharmacy, Faculty of Pharmacy, Medical University of Lublin, W. Chodzki Str., 4a, 20-093 Lublin, Poland;1. Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Parc Tecnològic de Barcelona, Llorens i Artigas 4-6, 08028 Barcelona, Spain;2. Department of Architecture, Design and Media Technology, Aalborg Universtity, 9220 Aalborg, Denmark;3. Computer Vision Center & Department of Computer Science (UAB), Edifici O, Campus UAB, 08193 Bellaterra, Spain;4. DPDCE, University IUAV, Santa Croce 1957, 30135 Venice, Italy |
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| Abstract: | Road detection is a basic task in automated driving field. In existing methods, detecting lane marks is a frequently used approach. However, road marks could fade with time, or even do not exist on some roads. Considering these factors, road region segmentation from background is much more reliable. One of the difficulties in this area is dealing with variant illumination conditions. Existing methods make some progress on reducing the influence of shadows, but they are still not satisfactory. Taking this into account, we put forward an improved shadow-free road detecting method based on color names, whose performance exceeds the existing methods. In addition, to further improving our performance on application, we adopt vanishing point detection and fuse two confidence maps to reduce the interference of sidewalk regions. Experiments on KITTI dataset depict that the proposed method is efficient. Moreover, the improved road detection method has low-complexity, which meets the requirement of practical usage. |
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| Keywords: | Road detection Illumination robust Color names Vanishing point |
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