Title :
Road edge detection for mobile robot navigation
Author :
Brzakovic, D. ; Hong, L.
Author_Institution :
Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
Abstract :
The authors describe a novel algorithm for the detection of road edges in image sequences for mobile robot navigation. The essence of this algorithm is road modeling by spline functions and edge detection by a linear recursive filter. The filter uses a measurement procedure that involves an edge point search about a specified reference curve. This curve is determined automatically by preprocessing the first frame. Estimates of the road edges in each frame are used as the reference curve for the following frame. The algorithm processes a sequence of road images, and it does not require a priori knowledge about the image contents. The algorithm has been tested on image sequences, yielding satisfactory results
Keywords :
computer vision; mobile robots; splines (mathematics); computer vision; edge point search; mobile robot navigation; reference curve; road edge detection; road modeling; spline functions; Filtering; Image edge detection; Image sequences; Layout; Mobile robots; Navigation; Nonlinear filters; Recursive estimation; Roads; Spline;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100134
