General road detection from a single image
IEEE Transactions on Image Processing
Recent progress in road and lane detection: a survey
Machine Vision and Applications
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We present two components of a vision-based approach to autonomous driving on and near rural and desert roads. The first component comprises fast processing of live vehicle camera video to robustly extract linear direction and midline estimates of marginal roads. The second uses satellite imagery immediately surrounding the vehicle驴s GPS position to trace the road ahead for curve and corner anticipation, and to inform the vehicle planner of a nearby road when traveling cross-conalysis: on-board, they are employed to ?nd ruts and trauntry. The algorithms are built upon Gabor wavelet filters for texture acks from which the road vanishing point can be inferred via Houghstyle voting, and aerially, they localize the edges of low-contrast road contours. Mechanisms for both modules to determine whether the vehicle is currently on- or off-road are also explained. Our system驴s efficacy is illustrated for several difficult datasets, including a log from one vehicle驴s run during the 2004 DARPA Grand Challenge.