Illumination invariant lane color recognition by using road color reference & neural networks

Non-linearity of color changing in various lighting conditions is one of the primary factors which make lane color recognition difficult. This paper introduces an illumination invariant lane color recognition method which can recognize two lane colors (white, yellow) and copes with the non-linearity by using neural networks. Our method utilizes the road texture as the indicator of illumination condition and learns the relation between illumination condition and lane color by using multi-layer perceptron. The proposed method was verified by the experiment with a road images sequence of real driving situation.