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