Pathway estimation for vision based road following suitable for unstructured roads

This paper presents a novel method for monocular vision based pathway estimation. In this context, the pathway means a trajectory which an autonomous vehicle should follow to avoid departure from the road. The proposed method is based on our previous work on road region segmentation, and exploits the road region extracted from monocular sequential images to estimate parameters of the pathway model. Since the proposed method doesn´t require road surface marking, it is suitable for unstructured roads, while it still works for structured roads too. The proposed method is tested on real image sequences and compared with edge based techniques.