Regular Articles

Robust road detection in shadow conditions

[+] Author Affiliations
Kaiyue Lu

Southeast University, School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing 210096, China

Australian National University, College of Engineering and Computer Science, CSIT Building 108, North Road, Canberra 2601, Australia

Siyu Xia, Junkang Zhang

Southeast University, School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing 210096, China

A. Kai Qin

RMIT University, School of Science, GPO Box 2476, Melbourne 3001, Victoria, Australia

J. Electron. Imaging. 25(4), 043027 (Aug 17, 2016). doi:10.1117/1.JEI.25.4.043027
History: Received April 6, 2016; Accepted July 26, 2016
Text Size: A A A

Abstract.  Image-based road detection is a vital task for many real-world applications, such as autonomous driving and obstacle detection. We propose a method for segmenting road regions from a single image based on horizon line estimation and clustering technology. The key idea is to leverage normalized cross correlation to search for the line separating the road image. Additionally, we divide the lower part of the road image into several identical parts horizontally and utilize a density-peak clustering algorithm in terms of gray and HSV value of each pixel. Clustering results are further labeled as road and nonroad based on the assumption that two adjacent horizontal parts share similar clustering size and average gray value. For road images with shadows, we also propose a new shadow-free space derived from HSV space. By calculating maximum entropy and reconstructing images, we show that shadows are eliminated to achieve better road detection. Experimental results on four datasets and shadow images demonstrate the effectiveness and robustness of our method.

© 2016 SPIE and IS&T

Topics

Roads

Citation

Kaiyue Lu ; Siyu Xia ; Junkang Zhang and A. Kai Qin
"Robust road detection in shadow conditions", J. Electron. Imaging. 25(4), 043027 (Aug 17, 2016). ; http://dx.doi.org/10.1117/1.JEI.25.4.043027


Access This Article
Sign in or Create a personal account to Buy this article ($20 for members, $25 for non-members).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging & repositioning the boxes below.

Related Book Chapters

Topic Collections

PubMed Articles
Advertisement
  • Don't have an account?
  • Subscribe to the SPIE Digital Library
  • Create a FREE account to sign up for Digital Library content alerts and gain access to institutional subscriptions remotely.
Access This Article
Sign in or Create a personal account to Buy this article ($20 for members, $25 for non-members).
Access This Proceeding
Sign in or Create a personal account to Buy this article ($15 for members, $18 for non-members).
Access This Chapter

Access to SPIE eBooks is limited to subscribing institutions and is not available as part of a personal subscription. Print or electronic versions of individual SPIE books may be purchased via SPIE.org.