A.3.3 Various types of roads (with / without lane markings):

Recognition of roads without lane markings or even roads without a sealed surface can be very difficult depending on the type of surface, the lighting- and the weather conditions.

  • Smooth surfaces with homogeneous appearance and good contrast at the boundaries are the easiest ones.

  • If there are buildings or trees near the road and sunshine casts shadows on the road, recognition of the road boundaries may become very difficult; usually, the argument of smooth continuation of road edges gives a good guideline for grouping edge elements. Edge intensity is not a good argument for selection and combination of edge elements.

  • Since boundaries of dirt roads are not smooth and crisp but rather jagged, edge detection by large masks with a wide gap between the positive and the negative parts of the mask are favorable.

  • Clothoid models are well suited for perceiving these roads also even though they might not have been designed this way.

video 03 VaMoRsCampusRoad 1987

Road fork recognition

At larger distances, using region-based features is more robust for detecting and tracking roads including road forks (see figure):


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