Road tracking is an important task of robot visual navigation.Compared with single-line laser radar

four-line laser radar has advantages of large amount of information and high reliability.Detected data points is straight line fitted

and fuse information of four scan lines to get fused road-boundary.After planar fitting the road surface points

the road-boundary height can be measured.Among the obtained candidate straight line segments

detect the intersection to get the T-shaped and cross-shaped intersection.According to motion information of the vehicle

construct Kalman filter to track and estimate the road-boundary and intersection.The experimental results in campus environment show that this method can detect and track along the roadside effectively and quickly

and distinguish and track reliably the intersection in the road as well.