Road Curb Extraction Based on Road Shape Analysis

The road curb detection based on obstacle grid map is implemented mainly through the growing of road area or the seed points satisfying the features of road curb. However, these algorithms are prone to be affected by the obstacles inside the road area because of the absence of the road shape information, such as road trend information and road width distribution information. To overcome this problem, distance transformation is firstly performed on obstacle grid map to acquire the trend information, followed by the construction of width distribution histogram to express road width distribution information. Based on these, road curb seed points are extracted, the full road curb points are obtained through region growth, and the road curb shape is acquired through quadratic curve fitting. The experiment proves that the algorithm presented performs relatively more robust and accurate for the road curb extraction in relative busier road.