Real-Time Traversable Surface Detection by Colour Space Fusion and Temporal Analysis
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
General road detection from a single image
IEEE Transactions on Image Processing
Monocular online learning for road region labeling and object detection from a moving platform
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part II
Tracking natural trails with swarm-based visual saliency
Journal of Field Robotics
A fast vanishing point detection method in structured road
IScIDE'12 Proceedings of the third Sino-foreign-interchange conference on Intelligent Science and Intelligent Data Engineering
Neural-swarm visual saliency for path following
Applied Soft Computing
Recent progress in road and lane detection: a survey
Machine Vision and Applications
| Hi-index | 0.00 |
We describe a realtime system for finding and tracking unstructured paths in off-road conditions. The system was designed as part of the recent Darpa Grand Challenge and was tested over hundreds of miles of off-road driving. The unique feature of our approach is to combine geometric projection used for recovering Pitch and Yaw with Learning approaches for identifying familiar "drivable" regions in the scene. The region-based component segments the image to "path" and "non-path" regions based on texture analysis borne out of a learning-by-examples principle. The boundary-based component looks for the path bounding lines assuming a geometric model of a planar pathway bounded by parallel edges taken by a perspective camera. The combined effect of both sub-systems forms a robust system capable of finding the path even in situations where the vehicle is positioned out of the path - a situation which is not common for human drivers but is relevant for autonomous driving where the vehicle may find itself occasionally veering out of the path.