Several researchers have proposed and implemented various systems pertaining to the development of Autonomous Land Vehicles (ALV). One fundamental problem associated with the navigation of an ALV is the ability to efficiently extract the boundaries of the pathway that need to be navigated. In this paper a method is presented that will determine the road boundaries in one pass using a limited search area in the input image. The method employs the statistical information regarding the gray levels present in the images along with geometrical constraints concerning the road. Some examples are given to demonstrate the efficacy of the method.
James P Sowers,
"Detection Of Road Boundary", Proc. SPIE 0974, Applications of Digital Image Processing XI, (16 December 1988); doi: 10.1117/12.948481; https://doi.org/10.1117/12.948481