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Most of the common lane recognition systems are designed to work on well structured roads and rely on the existence of markings. In this paper we present a lane recognition scheme for country roads. Our novel approach works even in the absence of markings. The parameter estimation is formulated as a maximum-a-posteriori estimation task fusing color, texture, and edges. The framework can easily be extended by additional features not considered here. The optimization is carried out by means of a particle filter. Efficient computation schemes allow running the system in video real-time using a standard PC. The proposed algorithm can cope with varying feature statistics. Practical tests prove the robustness on marked as well as unmarked roads.
Franke et al. (Fri,) studied this question.