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In this paper a novel approach for road detection with a monocular camera is introduced. We propose a two step approach, combining a patch-based segmentation with additional boundary detection. We use Slow Feature Analysis (SFA) which leads to improved appearance descriptors for road and non-road parts on patch level. From the slow features a low order feature set is formed which is used together with color and Walsh Hadamard texture features to train a patch-based GentleBoost classifier. This allows extracting areas from the image that correspond to the road with a certain confidence. Typically the border regions between road and non-road have the highest classification error rates, because the appearance is hard to distinguish on the patch level. Therefore we propose a post-processing step with a specialized classifier applied to the boundary region of the image to improve the segmentation results. In order to evaluate the quality of road segmentation we propose an application-based quality measurement applying an inverse perspective mapping on the image to obtain a Birds Eye View (BEV). The advantage of this approach is that the important distant parts and boundaries of the road in the real world, which are only a low fraction in the perspective image, can be assessed in this metric measure significantly better than on the pixel level. In addition, we estimate the driving corridor width and boundary error, because for Advanced Driver Assistant Systems (ADAS) metric information is needed. For all evaluations in different road and weather conditions, our system shows an improved performance of the two step approach compared to the basic segmentation.
Kühnl et al. (Wed,) studied this question.