Robust Free-Space Detection in Urban Roads based on MSER Extraction Using Gradient Images
作者单位：College of Metropolitan TransportationBeijing University of Technology Beijing Key Laboratory of Traffic Engineering College of AutomationBeijing Union University College of Architecture and Civil EngineeringBeijing University of Technology
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：08[工学] 082303[工学-交通运输规划与管理] 082302[工学-交通信息工程及控制] 0823[工学-交通运输工程]
基 金：supported by National Natural Science Foundation (NNSF) of China under Grant 61531005 61573030 61511130044
关 键 词：Road Detection On-board Video Processing Free-Space Detection MSER Gradient Images
摘 要：In this paper, a robust algorithm to detect free-spaces in urban roads using video sequences captured on-board is proposed, mainly aiming at the complex urban road conditions such as the change of road structure and dense traffic conditions, as well as the changing illumination. This algorithm is based on MSER（Maximally Stable Extremal Region） extraction using gradient images, which includes the following two aspects. Firstly, the gradient images are calculated by the Sobel operator formed as the spatial filter template. MSERs are extracted from these gradient images with an improved MSER extraction algorithm with linear complexity. Then some shape analysis is applied on each MSER after shape representation is computed by the contour extraction. On the basis of selecting the proper pixel location of the initial seed point, the region of the road area is determined where the initial seed point falls, based on the assumption that the region directly in front of the host vehicle is just the road area. Experimental results show that this method can run well in various traffic scenarios, and achieve real-time and robust road detection results.