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Environment perception is a major research issue which is very important in the field of robotic system. In order to identify the horizon line and the drivable region, we have proposed a visual-perception system based on an automatic image discarding method as a simple solution to improve the system performance. In this paper, all these previous methods are organized in a visual-perception layer which also includes a method for estimating the risk-of-collision based on Pearson's Correlation Coefficient and an evolution of the Threshold and Horizon Finder (TH Finder). These methods were successfully evaluated from real data.