DocumentCode
558769
Title
Steering angle determination using CART and voting
Author
Her, Kang-Wook ; Ha, Jong-Eun ; Lee, Wang-Heon
Author_Institution
Grad. Sch. of NID, Seoul Nat. Univ. of Sci. & Technol., Seoul, South Korea
fYear
2011
fDate
26-29 Oct. 2011
Firstpage
1139
Lastpage
1141
Abstract
In autonomous navigation using camera, it is important to robustly find drivable region. After finding drivable region, we compute the steering angle for the vehicle. In this paper, we propose a robust algorithm for finding the drivable region. First, we find drivable region using classification and regression tree (CART). Finally, we find the epipole of the road using voting. We show the feasibility and robustness of proposed algorithm in experiment using real images.
Keywords
angular measurement; cameras; image classification; mobile robots; path planning; road vehicles; roads; robot vision; steering systems; CART; autonomous navigation; classification and regression tree; drivable region; real image; road epipole; robust algorithm; vehicle steering angle determination; Calibration; Cameras; Navigation; Roads; Robustness; Shape; Vehicles; Autonomous Navigation; CART; Road Detection; Steering Angle;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location
Gyeonggi-do
ISSN
2093-7121
Print_ISBN
978-1-4577-0835-0
Type
conf
Filename
6106098
Link To Document