This report describes a visual approach to road detection. A field of dominant trend lines is established over the image, by convolution with Gabor filters; the trend lines are then grouped into "visual segments," providing evidence for macroscopic linear features. Sets of these macroscopic features are evaluated against a list of heuristic criteria, to determine their likelihood of representing a road in the image. This procedure was implemented as software, for use by the Indy Robot Racing Team, a participant in the DARPA Grand Challenge 2005. It is capable of road detection at rates appropriate for driving at moderate speeds on dirt roads (ca. 5 Hz on a 3.4 GHz processor).
Supplementary information may also be found at the following URL: http://www.cs.indiana.edu/~sjohnson/irrt/img/Antolovic-Leykin-Johnson/