Knowledge-based interpretation of outdoor natural color scenes
Knowledge-based interpretation of outdoor natural color scenes
Detection, Estimation, and Modulation Theory: Radar-Sonar Signal Processing and Gaussian Signals in Noise
Analysis of natural scenes.
Analysis Of Camera Movement Errors In Vision-Based Vehicle Tracking
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Neural Approach for Detection of Road Direction in Autonomous Navigation
Proceedings of the 6th International Conference on Computational Intelligence, Theory and Applications: Fuzzy Days
A multistage filtering technique to detect hazards on the ground plane
Pattern Recognition Letters
Traversable path identification in unstructured terrains: a Markov random walk approach
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Optimal restoration of multichannel images based on constrained mean-square estimation
Journal of Visual Communication and Image Representation
ICASSP'93 Proceedings of the 1993 IEEE international conference on Acoustics, speech, and signal processing: plenary, special, audio, underwater acoustics, VLSI, neural networks - Volume I
Image technology for camera-based automatic guided vehicle
PSIVT'06 Proceedings of the First Pacific Rim conference on Advances in Image and Video Technology
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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.