Research Article
A Hybrid Vision-Map Method for Urban Road Detection
Table 4
Basic feature selection for the classifier parameters adjustment.
| Feature | Length | Selected |
| Normals | 3 | ✓ | Curvatures | 5 | ✓ | Big obstacles | 1 | ✓ | Vegetation | 1 | ✓ | Heights | 1 | ✓ | HOG | 36 | ✓ | HSV | 3 | ✓ | Illuminant invariant | 1 | ✓ | LBP | 1 | ✓ | Pixel location | 2 | ✓ | | 3 | ✓ | Shadows | 1 | | From limits to road | 1 | | Map prior | 1 | |
| Total | 60 | 57 |
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