Adaptive real-time road detection using VRay and A-MSRG in complex environments

TLDR: Efficiency is assessed based on the results of region detection achieved through the proposed combination of the Radial region split method and the A-MSRG, an enhanced version of the Seed Region Growing.

Abstract: This paper proposes an adaptive detection method for detecting road regions that have ambiguous boundaries within natural images. The proposed method achieves reliable partitioning of the road region within a natural environment where noise is present through the following two stages. In the first stage, we separate out candidate regions of the road by detecting the road’s boundary through the Radial region split method using VRay(Vanishing point-constrained ray). In the second stage, we apply so called Adaptive-Multiple Seed Region Growing(A-MSRG) approach into the separated candidate region in order to identify the road region in real time. The A-MSRG is an enhanced version of the Seed Region Growing(SRG). For performance evaluation, this study assessed efficiency based on the results of region detection achieved through the proposed combination of the Radial region split method and A-MSRG. We also conducted comparisons against the existing SRG and MSRG methods to confirm the validity of the proposed method.