Road detection is a crucial research topic in computer vision, especially in the framework of autonomous driving and driver assistance. Moreover, it is an invaluable step for other tasks such as collision warning, vehicle detection, and pedestrian detection. Nevertheless, road detection remains challenging due to the presence of continuously changing backgrounds, varying illumination (shadows and highlights), variability of road appearance (size, shape, and color), and differently shaped objects (lane markings, vehicles, and pedestrians). In this paper, we propose an algorithm fusing appearance and prior cues for road detection. Firstly, input images are preprocessed by simple linear iterative clustering (SLIC), morphological processing, and illuminant invariant transformation to get superpixels and remove lane markings, shadows, and highlights. Then, we design a novel seed superpixels selection method and model appearance cues using the Gaussian mixture model with the selected seed superpixels. Next, we propose to construct a road geometric prior model offline, which can provide statistical descriptions and relevant information to infer the location of the road surface. Finally, a Bayesian framework is used to fuse appearance and prior cues. Experiments are carried out on the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) road benchmark where the proposed algorithm shows compelling performance and achieves state-of-the-art results among the model-based methods.
Fusing Appearance and Prior Cues for Road Detection
