Steering angle determination using CART and voting

In autonomous navigation using camera, it is important to robustly find drivable region. After finding drivable region, we compute the steering angle for the vehicle. In this paper, we propose a robust algorithm for finding the drivable region. First, we find drivable region using classification and regression tree (CART). Finally, we find the epipole of the road using voting. We show the feasibility and robustness of proposed algorithm in experiment using real images.