关键词: 道路检测, 计算机视觉, 区域增长

Abstract: In the complex environment，this paper presents a lane detection method with the ability to deal with both structured and unstructured roads.The method combines a priori knowledge database with adaptive region growing method.It establishes a priori knowledge database through a set of road sampling，training，data mining and knowledge discovery，combines adaptive road region growing method using this database process on real-time segmented images.The experimental results show that this method is able to robustly find the road area on different types of roads in various environments.

Key words: road detection, computer vision, region growing