Robust urban road image segmentation

Urban road detection with on-board monocular camera in vehicle is still a difficult problem due to its complexity. Combining the superpixel scene segmentation with the classification of texture and structure information of the road scenes, this paper explores the method of detection the road from a single image. Processing the road texture information on a large scale and the structural information around the road on a small scale, and obtaining accurate information about the road edge with scene segmentation, the method is proved to be robust by experiments. Experimental data show that our approach achieved relatively good results in a variety of complex urban environment.