A Hybrid Vision-Map Method for Urban Road Detection

Table 1

Classification of different road detection methodologies.

Methodology	Sensor	Feature	Examples	Refs
Road appearance	Vision	Color	Illuminant invariant, GMM	[3–5]
		Texture	HOG, anisotropy, filter bank, LBP	[6, 7]
		Automatic	CNN	[8, 9]
Road limits	Vision LIDAR	Road markings	Reflectivity intensity, adaptive threshold	[10–12]
		Road curbs	Digital Elevation Maps, difference of heights, curvatures	[13–20]
Geometrical modeling	Map + GPS RADAR Vision LIDAR	Parametric models	Parabolic curves, clothoids, B-splines, snakes	[21–25]
		Nonparametric models	Ant Colony Optimization, Dijkstra,	[26, 27]