针对公路复杂行车环境中前方道路导向标线的识别问题，利用具有仿射不变性的多尺度自卷积(MSA)矩，并融合坚固度和方向等图像区域特征，构造出一种适于道路导向标线的图像形状描述子，然后应用支持向量机(SVM)进行图像目标分类。实验结果表明，该描述子具有近似射影不变性，能有效应用于不同视角和发生部分遮挡的道路导向标线分类。

To solve the road oriented marking recognition problem in complex driving environment, this paper presents a novel approach with two steps: 1) merge multi scale autoconvolution (MSA) moment with affine invariant and image region property to define a new feature descriptor to describe road oriented marking; 2) apply support vector machine (SVM) to classify the image objects. The experimental data demonstrate that the new descriptor has an approximate projective invariance and is suitable for road oriented marking classification in different visual angles and partly being occluded .