A Fast Line Finder for Vision-Guided Robot Navigation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Markov random field modeling in computer vision
Markov random field modeling in computer vision
Contour Line and Geographic Feature Extraction from USGS Color Topographical Paper Maps
IEEE Transactions on Pattern Analysis and Machine Intelligence
Parking Lot Analysis and Visualization from Aerial Images
WACV '98 Proceedings of the 4th IEEE Workshop on Applications of Computer Vision (WACV'98)
Histograms of Oriented Gradients for Human Detection
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Pattern Recognition and Machine Learning (Information Science and Statistics)
Pattern Recognition and Machine Learning (Information Science and Statistics)
Automatically Conflating Road Vector Data with Orthoimagery
Geoinformatica
Journal of Cognitive Neuroscience
An Algorithm for Parking Lot Occupation Detection
CISIM '08 Proceedings of the 2008 7th Computer Information Systems and Industrial Management Applications
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Studying (non-planar) road networks through an algorithmic lens
Proceedings of the 16th ACM SIGSPATIAL international conference on Advances in geographic information systems
Automatic extraction of road intersection position, connectivity, and orientations from raster maps
Proceedings of the 16th ACM SIGSPATIAL international conference on Advances in geographic information systems
Snapshot location-based query processing on moving objects in road networks
Proceedings of the 16th ACM SIGSPATIAL international conference on Advances in geographic information systems
Autonomous driving in semi-structured environments: mapping and planning
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Semi-autonomous virtual valet parking
Proceedings of the 2nd International Conference on Automotive User Interfaces and Interactive Vehicular Applications
Exploiting publicly available cartographic resources for aerial image analysis
Proceedings of the 20th International Conference on Advances in Geographic Information Systems
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In this paper we present algorithms for automatically generating a road network description from aerial imagery. The road network inforamtion (RNI) produced by our algorithm includes a composite topoloigical and spatial representation of the roads visible in an aerial image. We generate this data for use by autonomous vehicles operating on-road in urban environments. This information is used by the vehicles to both route plan and determine appropriate tactical behaviors. RNI can provide important contextual cues that influence driving behaviors, such as the curvature of the road ahead, the location of traffic signals, or pedestrian dense areas. The value of RNI was demonstrated compellingly in the DARPA Urban Challenge, where the vehicles relied on this information to drive quickly, safely and efficiently. The current best methods for generating RNI are manual, labor intensive and error prone. Automation of this process could thus provide an important capability. As a step toward this goal, we present algorithms that automatically build the skeleton of drivable regions in a parking lot from a single orthoimage. As a first step in extracting structure, our algorithm detects the parking spots visible in an image. It then combines this information with the detected parking lot boundary and information from other detected road-markings to extract a skeleton of the the drivable regions within the lot.