关键词: 道路检测, 二值空间线特征, 高级驾驶员辅助系统

Abstract: Vision based road detection is a key technology for Advanced Driver Assistance System（ADAS）. This paper proposes a novel road detection approach, the core of which lies in the design of the binary spatial ray feature which combines both road appearance and spatial information, and an efficient road classifier based on the extracted feature. The approach mainly consists of multiple base classifiers, binary spatial ray feature extraction and road classification. Moreover, the inter-frame coherence between adjacent images is also applied to accelerate detection speed. Experiments on a large number of structured and semi-structured road images show that the proposed approach can effectively detect road under challenging conditions and is robust against changes in the width of roads.

Key words: road detection, binary spatial ray feature, advanced driver assistance system