Principle of ELIESER

We therefore integrated the concept of curvature in the definition of the potential. Instead of defining the potential at a single point, we define it on a set of neighboring points, such as nine points forming a square.

The potential thus depends on the grey tone along the road,

on the contrast between the road and the image background,

and on local curvature.

In our applications, we define the potential as the sum of three terms corresponding to the grey level, contrast, and curvature.