Poppet: A Robust Road Boundary Detection and Tracking Algorithm

There have been many attempts at following road edge boundaries based upon edge information. Most of this work concentrates on the following of road markings. This paper describes a robust algorithm which can track both unmarked road boundaries and marked road boundaries. The Poppet (Position of Pivot Point Estimating Trajectory) algorithm accumulates edge points in the image and makes a decision on the position of the road boundary based upon the maximum of the accumulated values. The merits of using an edge map which is not thresholded are discussed. Finally, the implementation of Poppet using parallel processors is discussed.