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14 February 1992 Hough-based recognition of complex 3-D road scenes
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Proceedings Volume 1613, Mobile Robots VI; (1992)
Event: Robotics '91, 1991, Boston, MA, United States
In this paper, we address the problem of the object recognition in a complex 3-D scene by detecting the 2-D object projection on the image-plane for an autonomous vehicle driving; in particular, the problems of road detection and obstacle avoidance in natural road scenes are investigated. A new implementation of the Hough Transform (HT), called Labeled Hough Transform (LHT), to extract and group symbolic features is here presented; the novelty of this method, in respect to the traditional approach, consists in the capability of splitting a maximum in the parameter space into noncontiguous segments, while performing voting. Results are presented on a road image containing obstacles which show the efficiency, good quality, and time performances of the algorithm.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Gian Luca Foresti and Carlo S. Regazzoni "Hough-based recognition of complex 3-D road scenes", Proc. SPIE 1613, Mobile Robots VI, (14 February 1992);


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