A robust image processing approach used to ALV road following

Author

Gu, W.K. ; Liuhui ; Wanghui

Author_Institution

Dept. of Inf. & Electron. Eng., Zhejiang Univ., China

fYear

1992

fDate

30 Aug-3 Sep 1992

Firstpage

676

Lastpage

679

Abstract

A robust image processing approach used for ALV (autonomous land vehicle) road following is presented. The approach can cope with illumination variation, bad road surface condition such as shadows, defects, dirt and water stains. And it is effective for images of multi-branched road intersections. The approach consists of key techniques: color band automatic selection; adaptive road area segmentation; binary image post-processing and knowledge-based road trend line fitting. The approach is easy to implement in real time because its processing stages can be arranged into a pipeline. A set of experimental results is also presented

Keywords

computer vision; computerised navigation; image segmentation; knowledge based systems; mobile robots; adaptive road area segmentation; autonomous land vehicle; bad road surface condition; binary image post-processing; color band automatic selection; computer vision; computerised navigation; defects; dirt; illumination variation; image segmentation; knowledge-based road trend line fitting; mobile robots; multi-branched road intersections; road following; shadows; water stains; Curve fitting; Histograms; Image processing; Image segmentation; Land vehicles; Lighting; Remotely operated vehicles; Roads; Robustness; Surface morphology;

fLanguage

English

Publisher

ieee

Conference_Titel

Pattern Recognition, 1992. Vol.I. Conference A: Computer Vision and Applications, Proceedings., 11th IAPR International Conference on

Conference_Location

The Hague

Print_ISBN

0-8186-2910-X

Type

conf

DOI

10.1109/ICPR.1992.201651

Filename

201651