Color Similarity Based Real-time Road Detection Algorithm For Mobile Robot

摘要

A color similarity based real-time road detection algorithm in RGB color space is proposed in this paper. Firstly, the color information is extract from kernel region; then a illumination invariant is introduced to eliminate illumination interference; finally, road region can be obtained by color segmentation. By comparing the algorithm with OSTU algorithm and Hue based algorithm separately, the results show the effectiveness and real-time performance of our approach.