A Real-Time Road Following Vision System For Autonomous Vehicles

Darwin Kuan; Gary Phipps; A-Chuan Hsueh

doi:10.1117/12.937794

25 February 1987 A Real-Time Road Following Vision System For Autonomous Vehicles

Darwin Kuan, Gary Phipps, A-Chuan Hsueh

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937794
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

This paper describes a real-time road following and road junction detection vision system for autonomous vehicles. Vision-guided road following requires extracting road boundaries from images in real-time to guide the navigation of autonomous vehicles on the roadway. We use a histogram-based pixel classification algorithm to classify road and non-road regions in the image. The most likely road region is selected and a polygonal representation of the detected road region boundary is used as the input to a geometric reasoning module that performs model-based reasoning to accurately identify consistent road segments and road junctions. In this module, local geometric supports for each road edge segment are collected and recorded and a global consistency checking is performed' to obtain a consistent interpretation of the raw data. Limited cases of incorrect image segmentation due to shadows or unusual road conditions can be detected and corrected based on the road model. Similarly, road junctions can be detected using the same principle. The real-time road following vision system has been implemented on a high-speed image processor connected to a host computer. We have tested our road following vision system and vehicle control system on a gravel road.

Citation Download Citation

Darwin Kuan, Gary Phipps, and A-Chuan Hsueh "A Real-Time Road Following Vision System For Autonomous Vehicles", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937794

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available