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detect road shape on image without lanes lines


I am trying to find a way to detect the shape of the road surface. I have experimented a lot with the examples on lane detection, but the issue is that the contrast of the concrete surface and road sides (often grass) is not enough especially when there are no side lines as you have in lanes. A good example is the image below. It uses background abstraction to find the car, but I actually need to road surface shape (preferably without the lighter gray side ways) also without having painted lane lines like your normally have.

Many thanks