Title :
Real-time road following in natural terrain
Author :
Chaturvedi, P. ; Malcolm, A.A. ; Ibanez-Guzman, Javier
Author_Institution :
Singapore Inst. of Manuf. Technol.
Abstract :
In the context of autonomous vehicle navigation, the use of colour content in images of off-road terrain within a tropical environment as a means of segmenting the scene is investigated. The operating environment is composed of dirt roads and tracks lined with vegetation with an irregular boundary between the two. Scene images are intelligently separated into driveable and non-driveable regions. HSI colour representation provides robustness to spectral colour variations and invariance to sudden changes in ambient light conditions. The approach to feature identification, classification and thresholding based on training set statistics is discussed. Finally results from the real world deployment on an autonomous vehicle are included
Keywords :
image classification; image colour analysis; image segmentation; road vehicles; statistical analysis; HSI colour representation; autonomous vehicle navigation; colour content; colour invariance; colour variation; feature classification; feature identification; feature thresholding; natural terrain; off-road terrain; real-time road; scene segmentation; training set statistics; tropical environment; Cameras; Image segmentation; Layout; Mobile robots; Navigation; Remotely operated vehicles; Road transportation; Road vehicles; Robustness; Vegetation mapping;
Conference_Titel :
Cybernetics and Intelligent Systems, 2004 IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-8643-4
DOI :
10.1109/ICCIS.2004.1460693
