Stereo-based road boundary tracking for mobile robot navigation

Author

Chiku, Takeshi ; Miura, Jun ; Satake, Junji

Author_Institution

Dept. of Comput. Sci. & Eng., Toyohashi Univ. of Technol., Toyohashi, Japan

fYear

2011

Firstpage

331

Lastpage

336

Abstract

This paper describes a method of stereo-based road boundary tracking for mobile robot navigation. Since sensory evidence for road boundaries might change from place to place, we cannot depend on a single cue but have to use multiple sensory features. The method uses color, edge, and height information obtained from a single stereo camera. To cope with a variety of road types and shapes and that of their changes, we adopt a particle filter in which road boundary hypotheses are represented by particles. The proposed method has been tested in various road scenes and conditions, and verified to be effective for autonomous driving of a mobile robot.

Keywords

mobile robots; navigation; object tracking; particle filtering (numerical methods); robot vision; stereo image processing; autonomous driving; mobile robot navigation; multiple sensory features; particle filter; sensory evidence; single stereo camera; stereo-based road boundary tracking; Cameras; Estimation; Feature extraction; Image color analysis; Roads; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Conference_Location

Karon Beach, Phuket

Print_ISBN

978-1-4577-2136-6

Type

conf

DOI

10.1109/ROBIO.2011.6181307

Filename

6181307