DSpace
 

Researchspace >
General science, engineering & technology >
General science, engineering & technology >
General science, engineering & technology >

Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/4149

Title: Fast and robust road segmentation and obstacle map generation for autonomous navigation
Authors: Senekal, FP
Keywords: Road segmentation
Computer vision algorithm
Calibrated camera
Algorithms
Autonomous navigation
Mechatronics
Robotics
ROBMECH 2009
Issue Date: Nov-2009
Citation: Senekal, FP. 2009. Fast and robust road segmentation and obstacle map generation for autonomous navigation. 3rd Robotics and Mechatronics Symposium (ROBMECH 2009). 8-10 November 2009, CSIR International Convention Centre, Pretoria
Abstract: The ability to detect and navigate drivable road surfaces is an important research area in autonomous navigation for use in autonomous vehicles. In this paper, a probabilistic computer vision algorithm for segmentation of tarred road surfaces is developed. Using a calibrated camera, a projection of a local obstacle map is then laid over the segmented image and an estimate is made of the likelihood of drivable region in each occupancy cell. The algorithm is both fast, can be implemented in real-time systems and robust, road surfaces are segmented well. The method was tested on a set of test images captured from a camera mounted on an autonomous vehicle. Good classification results are achieved, making it possible to use the algorithm and the resulting obstacle map in conjunction with global and local path planning algorithms to achieve autonomous navigation.
Description: 3rd Robotics and Mechatronics Symposium (ROBMECH 2009). 8-10 November 2009, CSIR International Convention Centre, Pretoria
URI: http://hdl.handle.net/10204/4149
ISBN: 9780620447218
Appears in Collections:Mobile intelligent autonomous systems
General science, engineering & technology

Files in This Item:

File Description SizeFormat
Senekal_2009.pdf346.2 kBAdobe PDFView/Open
View Statistics

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

 

Valid XHTML 1.0! DSpace Software Copyright © 2002-2010  Duraspace - Feedback