UNSTRUCTURED ROAD BOUNDARY DETECTION
First Claim
1. A method for detecting an unstructured road boundary, comprising:
- obtaining a color image;
selecting a candidate road region within the color image according to a road model;
identifying a seed pixel from the candidate road region;
determining a brightness threshold and a color threshold according to brightness distances and color distances from pixels in the candidate road region to the seed pixel; and
determining whether the pixels in the candidate road region belong to a road region based on the brightness threshold and the color threshold.
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Abstract
A method for detecting unstructured road boundary is provided. The method may include: obtaining a color image; selecting a candidate road region within the color image according to a road model; identifying a seed pixel from the candidate road region; obtaining a brightness threshold and a color threshold, where the brightness threshold and the color threshold are determined according to brightness distances and color distances from pixels in the candidate road region to the seed pixel; and performing road segmentation by determining whether the pixels in the candidate road region belong to a road region based on the brightness threshold and the color threshold. The amount of computation can be reduced greatly by using the improved unstructured road boundary detection method.
14 Citations
16 Claims
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1. A method for detecting an unstructured road boundary, comprising:
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obtaining a color image; selecting a candidate road region within the color image according to a road model; identifying a seed pixel from the candidate road region; determining a brightness threshold and a color threshold according to brightness distances and color distances from pixels in the candidate road region to the seed pixel; and determining whether the pixels in the candidate road region belong to a road region based on the brightness threshold and the color threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for detecting an unstructured road boundary, comprising:
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a camera for obtaining a color image; and a processing device configured to; select a candidate road region within the color image according to a road model; identify a seed pixel from the candidate road region; determine a brightness threshold and a color threshold according to brightness distances and color distances from pixels in the candidate road region to the seed pixel; and perform road segmentation by determining whether the pixels in the candidate road region belong to a road region based on the brightness threshold and the color threshold. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification