Title :
A robust road recognition algorithm
Author :
Hong, Cheng ; Nanning, Zheng ; Xuetao, Zhang ; Li, Zhao
Author_Institution :
Inst. of Artificial Intelligence & Robotics, Xi´´an Jiaotong Univ., China
Abstract :
A new road detection algorithm based on image inhomogeneous features and geometry model is introduced to improve its robustness for illumination variations, shadows, noise, or the discontinuity of road boundary, etc. The local deviation and discontinuity of road image are fused to make in-homogeneous image that is binarized to road edge based on scale-histogram. After estimating the optimum control points using M-estimator road, the edge above can be fitted with Catmull-Rom spline. The simulation results confirm the fine robustness and adaptiveness of the newly proposed algorithm.
Keywords :
image recognition; object detection; road traffic; splines (mathematics); Catmull-Rom spline; image inhomogeneous features; road detection algorithm; robust road recognition algorithm; scale-histogram; Artificial intelligence; Computational geometry; Detection algorithms; Electronic mail; Image edge detection; Intelligent robots; Noise robustness; Roads; Solid modeling; Spline;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1343729
