Autonomous robotic vehicle road following
Kuan, D.
Phipps, G.
Hsueh, A.-C.
FMC Corp., Santa Clara, CA;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Sep 1988
Volume: 10,
Issue: 5
On page(s): 648-658
ISSN: 0162-8828
References Cited: 13
CODEN: ITPIDJ
INSPEC Accession Number: 3300437
Digital Object Identifier: 10.1109/34.6773
Current Version Published: 2002-08-06
Abstract
A description is given of the system architecture of an autonomous
vehicle and its real-time adaptive vision system for road-following. The
vehicle is a 10-ton armored personnel carrier modified for robotic
control. A color transformation that best discriminates road and nonroad
regions is derived from labeled data samples. A maximum-likelihood pixel
classification technique is then used to classify pixels in the
transformed color image. The vision system adapts itself to road changes
in two ways; color transformation parameters are updated infrequently to
accommodate significant road color changes, and classifier parameters
are updated every processing cycle to deal with gradual color and
intensity changes. To reduce unnecessary computation, only the most
likely road region in the segmented image is selected, and a polygonal
representation of the detected road region boundary is transformed from
the image coordinate system to the local vehicle coordinate system based
on a flat-earth assumption
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
