Road. Following By An Autonomous Vehicle Using Range Data

Uma Kant Sharma; Larry S. Davis

doi:10.1117/12.937796

25 February 1987 Road. Following By An Autonomous Vehicle Using Range Data

Uma Kant Sharma, Larry S. Davis

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937796
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

This paper describes a road following system for an Autonomous Land Vehicle. Range data is used as the sensor input. The system is divided into two parts: low-level data driven analysis followed by high-level model-directed search. The sequence of steps performed, in order to detect 3-D road boundaries, is as follows: Range data is first converted from spherical into Cartesian coordinates. A quadric (or planar) surface is then fitted to the neighborhood of each range pixel, using a least square fit method. Based on this fit, minimum and maximum principal surface curvatures are computed at each point to detect edges. Next, using Hough transform techniques 3-D local line segments are extracted. Finally, model directed reasoning is applied to detect the road boundaries.

Citation Download Citation

Uma Kant Sharma and Larry S. Davis "Road. Following By An Autonomous Vehicle Using Range Data", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937796

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