Unstructured road boundary detection
First Claim
Patent Images
1. A method for detecting a road region, comprising:
- obtaining, via a storage device, 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, via a processing device, 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 that the pixels in the candidate road region belong to the road region based on the brightness threshold and the color threshold.
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Abstract
A method for determining a road region 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.
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Citations
16 Claims
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1. A method for detecting a road region, comprising:
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obtaining, via a storage device, 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, via a processing device, 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 that the pixels in the candidate road region belong to the 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 a road region, 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 that the pixels in the candidate road region belong to the 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