A vision-based road detection technique is important for implementation of a safe driving assistance system. A major problem of vision-based road detection is sensitivity to environmental change, especially illumination change. A novel framework is proposed for robust road detection using a color model with a separable brightness component. Road candidate areas are selected using an adaptive thresholding method, then fast region merging is performed based on a threshold value. Extracted road contours are filtered using edge information. Experimental results show the proposed algorithm is robust in an illumination change environment.
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