TY - CONF AU - Ferran Diego AU - Jose Manuel Alvarez AU - Joan Serrat AU - Antonio Lopez A2 - ITSC PY - 2010// TI - Vision-based road detection via on-line video registration BT - 13th Annual International Conference on Intelligent Transportation Systems SP - 1135–1140 KW - video alignment KW - road detection N2 - TB6.2Road segmentation is an essential functionality for supporting advanced driver assistance systems (ADAS) such as road following and vehicle and pedestrian detection. Significant efforts have been made in order to solve this task using vision-based techniques. The major challenge is to deal with lighting variations and the presence of objects on the road surface. In this paper, we propose a new road detection method to infer the areas of the image depicting road surfaces without performing any image segmentation. The idea is to previously segment manually or semi-automatically the road region in a traffic-free reference video record on a first drive. And then to transfer these regions to the frames of a second video sequence acquired later in a second drive through the same road, in an on-line manner. This is possible because we are able to automatically align the two videos in time and space, that is, to synchronize them and warp each frame of the first video to its corresponding frame in the second one. The geometric transform can thus transfer the road region to the present frame on-line. In order to reduce the different lighting conditions which are present in outdoor scenarios, our approach incorporates a shadowless feature space which represents an image in an illuminant-invariant feature space. Furthermore, we propose a dynamic background subtraction algorithm which removes the regions containing vehicles in the observed frames which are within the transferred road region. SN - 2153-0009 SN - 978-1-4244-7657-2 L1 - http://158.109.8.37/files/DAS2010.pdf UR - http://dx.doi.org/10.1109/ITSC.2010.5624998 N1 - ADAS ID - Ferran Diego2010 ER -