Real-Time Traversable Surface Detection by Colour Space Fusion and Temporal Analysis

Authors:
Ioannis Katramados;Steve Crumpler;Toby P. Breckon
Affiliations:
School of Engineering, Cranfield University, Cranfield, UK MK43 0AL;TRW Conekt, Solihull, UK B90 4GW;School of Engineering, Cranfield University, Cranfield, UK MK43 0AL
Venue:
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Year:
2009

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Abstract

We present a real-time approach for traversable surface detection using a low-cost monocular camera mounted on an autonomous vehicle. The proposed methodology extracts colour and texture information from various channels of the HSL, YCbCr and LAB colourspaces by temporal analysis in order to create a "traversability map". On this map lighting and water artifacts are eliminated including shadows, reflections and water prints. Additionally, camera vibration is compensated by temporal filtering leading to robust path edge detection in blurry images. The performance of this approach is extensively evaluated over varying terrain and environmental conditions and the effect of colourspace fusion on the system's precision is analysed. The results show a mean accuracy of 97% over this comprehensive test set.