The Design and Use of Steerable Filters
IEEE Transactions on Pattern Analysis and Machine Intelligence
Image Representation Using 2D Gabor Wavelets
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Robust Linear-Parabolic Model for Lane Following
SIBGRAPI '04 Proceedings of the Computer Graphics and Image Processing, XVII Brazilian Symposium
Obstacle Detection with Stereo Vision for Off-Road Vehicle Navigation
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
On-Vehicle and Aerial Texture Analysis for Vision-Based Desert Road Following
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
Off-road Path Following using Region Classification and Geometric Projection Constraints
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Reverse Optical Flow for Self-Supervised Adaptive Autonomous Robot Navigation
International Journal of Computer Vision
Real-time vanishing point estimation in road sequences using adaptive steerable filter banks
ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
Simultaneous detection of lane and pavement boundaries using model-based multisensor fusion
IEEE Transactions on Intelligent Transportation Systems
Color-based road detection in urban traffic scenes
IEEE Transactions on Intelligent Transportation Systems
Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation
IEEE Transactions on Intelligent Transportation Systems
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
IEEE Transactions on Image Processing
Spreading algorithm for efficient vegetation detection in cluttered outdoor environments
Robotics and Autonomous Systems
Tracking natural trails with swarm-based visual saliency
Journal of Field Robotics
Proceedings of the Eighth Indian Conference on Computer Vision, Graphics and Image Processing
A real-time drivable road detection algorithm in urban traffic environment
ICCVG'12 Proceedings of the 2012 international conference on Computer Vision and Graphics
Noise and illumination invariant road detection based on vanishing point
IScIDE'12 Proceedings of the third Sino-foreign-interchange conference on Intelligent Science and Intelligent Data Engineering
A fast vanishing point detection method in structured road
IScIDE'12 Proceedings of the third Sino-foreign-interchange conference on Intelligent Science and Intelligent Data Engineering
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Given a single image of an arbitrary road, that may not be well-paved, or have clearly delineated edges, or some a priori known color or texture distribution, is it possible for a computer to find this road? This paper addresses this question by decomposing the road detection process into two steps: the estimation of the vanishing point associated with the main (straight) part of the road, followed by the segmentation of the corresponding road area based upon the detected vanishing point. The main technical contributions of the proposed approach are a novel adaptive soft voting scheme based upon a local voting region using high-confidence voters, whose texture orientations are computed using Gabor filters, and a new vanishing-point-constrained edge detection technique for detecting road boundaries. The proposed method has been implemented, and experiments with 1003 general road images demonstrate that it is effective at detecting road regions in challenging conditions.