Abstract—In this paper, we present a robust road detection and tracking method based on a condensation particle filter for real-time video-based navigation applications. The image is divided into horizontal strips, and vanishing point (VP) detection is performed on each image strip. We propose a method for estimating the density of road boundary line segments in the image so that VP detection in an image strip takes into account the detection results in the neighboring image strips. This use of contextual information for VP detection leads to more accurate detection results. The estimated road parameters are then used to initialize the condensation tracker. Experiments using real road videos demonstrate the robustness of our method to difficult road conditions due to the presence of partial occlusion, shadows, and road signs. Index Terms—Computer vision, condensation filter, road detection and tracking. I
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