PT Unknown AU Jose Manuel Alvarez Theo Gevers Antonio Lopez TI Evaluating Color Representation for Online Road Detection BT ICCV Workshop on Computer Vision in Vehicle Technology: From Earth to Mars PY 2013 BP 594 EP 595 DI 10.1109/ICCVW.2013.82 AB Detecting traversable road areas ahead a moving vehicle is a key process for modern autonomous driving systems. Most existing algorithms use color to classify pixels as road or background. These algorithms reduce the effect of lighting variations and weather conditions by exploiting the discriminant/invariant properties of different color representations. However, up to date, no comparison between these representations have been conducted. Therefore, in this paper, we perform an evaluation of existing color representations for road detection. More specifically, we focus on color planes derived from RGB data and their most com-mon combinations. The evaluation is done on a set of 7000 road images acquiredusing an on-board camera in different real-driving situations. ER