Title :
A vision based road detection algorithm
Author :
Hu, Minghao ; Yang, Wenjie ; Ren, Mingwu ; Yang, Jingyu
Author_Institution :
Comput. Sci. Dept., Nanjing Univ. of Sci. & Technol., China
Abstract :
Road detection is one of the basic tasks for automatic guidance. In this paper, a new approach to detect the road is proposed, which firstly segments the images into three classes of regions (road, non-road, uncertain regions) by some features and rules described in the paper, then uses hypothesis and verification strategy to amalgamate the uncertain regions to road or non-road correctly. The algorithm has been applied in an ATRV (all-terrain vehicle) made by Irobot Company, and experiments show that it is fast and robust for road detection at a park on a university campus.
Keywords :
automatic guided vehicles; image segmentation; mobile robots; object detection; robot vision; all-terrain vehicle; automatic guidance; image segmentation; verification strategy; vision based road detection algorithm; Computer science; Detection algorithms; Geometry; Image segmentation; Intelligent vehicles; Remotely operated vehicles; Roads; Robustness; Shape; Vehicle detection;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438028
