Title :
Adaptive unstructured road detection using close range stereo vision
Author :
Ozutemiz, K.B. ; Hacinecipoglu, Akif ; Koku, A.B. ; Konukseven, E.I.
Author_Institution :
Dept. of Mech. Eng., Middle East Tech. Univ., Ankara, Turkey
Abstract :
Detection of road regions is not a trivial problem especially in unstructured and/or off-road domains since traversable regions of these environments do not have common properties unlike urban roads or highways. In this paper a novel unstructured road detection algorithm that can continuously learn the road region is proposed. The algorithm gathers close-range stereovision data and uses this information to estimate the long-range road region. The experiments show that the algorithm gives satisfactory results even under changing light conditions.
Keywords :
learning (artificial intelligence); object detection; roads; stereo image processing; traffic engineering computing; visual perception; adaptive unstructured road detection; changing light conditions; close range stereo vision; long-range road region; off-road domain; road region detection; traversable regions; unstructured domain; unstructured road detection algorithm; urban highways; urban roads; Adaptation models; Cameras; Classification algorithms; Image color analysis; Libraries; Roads; Training; continuous learning; near-to-far learning; road detection; stereo vision; traversibility; unstructured roads;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606352
