Abstract
Autonomous following of ill-defined roads is an important part of visual navigation systems. The majority of current image-based road following methods rely on computationally expensive algorithms. This paper presents an adaptive real-time method based on statistical analysis of the colour of a road surface in a trapezoidal shape that corresponds to the projection of the road on the image plane. Our method is capable of navigating in real-time in a variety of situations, including 90°turns and crossroads, and coping with variable conditions of the road such as surface type and shadows.
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Ososinski, M., Labrosse, F. (2012). Real-Time Autonomous Colour-Based Following of Ill-Defined Roads. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_33
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DOI: https://doi.org/10.1007/978-3-642-32527-4_33
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32526-7
Online ISBN: 978-3-642-32527-4
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