Unstructured road detection based on contour selection

In view of the unstructured road, a linear path can be detected easily, but complicated road cannot be detected easily. We put forward the unstructured road detection method based on contour selection. Firstly, the canny edge detector is adopted to detect all edges in the picture. The expansion of processing is used to repair broken line. Secondly, we use the Hough transform to detect linear and contour detection function detecting edge profile. Then we match straight lines and contour. Finally, the vote for the best results of coincidence degree is the road on the edge of the contour. The experiment result proves that the road detection under complicated background environment has the better effectiveness than the traditional linear path detection method.