关键词: 路面检测, 不确定区域, 不确定区域再分类算法（RCUR）

Abstract: Road detection is a key issue in the field of intelligent vehicle.Learning-based methods always divide the road image into several regions，then classify them as road or non-road.But due to the complexity of real world environment，there are uncertain regions with both road and non-road areas，and this confusion makes the classification on these regions meaningless.To address the above problem，a new road detection algorithm based on the re-classification on uncertain regions（RCUR） is presented.RCUR detects uncertain regions automatically，and then segments the uncertain regions into several sub-regions by taking advantage of complementary of different segmenting algorithms.Through combination and classification on sub-regions，RCUR distinguishes the road area and non-road area in uncertain regions effectively.Experiments demonstrate that the proposed algorithm adapts itself well to the diversity of roads，improves the accuracy in road detection and decreases the negative impact caused by noises.

Key words: road detection, uncertain regions, Re-classification on Uncertain Regions（RCUR）