关键词: 色度差, 边缘检测, 道路识别

Abstract: In allusion to the characteristics of unstructured road，this paper puts forward a kind of the edge detection algorithm based on color difference.The algorithm converts the original image’s RGB color space to L*a*b* color space.And using L*a*b* color space lightness and color separation features，it extracts the image edge of road via the color difference information fusion and expels from the effect of a large area of shadow or watermarks on border of the true path.This method raises effectively the accuracy of the lane recognition.Finally，this paper extracts the edge of the road through the Hough transform.Indicated by experiment，this method has many merits，which can be not sensitive to the lane shape，need less priori knowledge and filter best the interference of watermarks or shadow on the road.

Key words: color difference, edge detection, lane recognition