In this paper, a new real-time method for finding temporary and permanent road marking is proposed. The method is based on the geometrized histograms method for segmenting and describing color images. It is able to work with both rectilinear and curvilinear marking, as well as with color temporary and permanent road marking. The developed method is stable under illumination and is able to work even for partially disappearing road marking, typical for late winter and early spring. The proposed method has been implemented by a program written in C++, operating under Windows and Linux. The program operation has been tested on video records shot on typical Russian roads. The processing speed is about 20 fps for a standard modern computer. The results of program operation are presented and discussed. The developed program is a part of the video system of the AvtoNiva pilotless vehicle.This work was partially supported by the Russian Foundation for Basic Research, projects no. 16-08-00880, 18-07-00127, and 19-08-01159
