Adaptive Fuzzy Colour Segmentation on RGB Ratio Space for Road Detection

In this paper, the RGB ratio is defined according to a reference colour such that the image can be transformed from a conventional colour space to the RGB ratio space. Different to distance measurement, a road colour segment is determined by an area in RGB ratio space enclosed by the estimated boundaries. Adaptive fuzzy logic, which fuzzy membership functions are defined according to estimated boundaries, is introduced to implement clustering rules. Low computation cost of the proposed segmentation method shows the feasibility to real time application. Experimental results for road detection demonstrate the robustness to intensity variation of the proposed approach.