By Topic

On-line road boundary estimation by switching multiple road models using visual features from a stereo camera

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Takeshi Chiku ; Department of Computer Science and Engineering, Toyohashi University of Technology, Japan ; Jun Miura

This paper describes a road boundary estimation method for autonomous navigation. We consider navigation in a campus environment, where roads (or traversable regions) are not necessarily modeled by a typical road model with a pair of parallel lines, but have a variety of shapes. We therefore use a set of flexible road models with model transition mechanisms for a robust road boundary estimation. This new modeling is incorporated into our multiple sensory feature-based road boundary estimation framework using a particle filter. The proposed method has been successfully applied to various scenes in our campus to realize autonomous navigation.

Published in:

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

7-12 Oct. 2012