Video road-following for the autonomous land vehicle
- 23 March 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 273-280
- https://doi.org/10.1109/robot.1987.1088030
Abstract
We describe the vision system for Alvin, the Autonomous Land Vehicle, addressing in particular the task of road-following. The system builds symbolic descriptions of the road and obstacle boundaries using both video and range sensors. Road segmentation methods are described for video-based road-following, along with approaches to boundary extraction and the transformation of boundaries in the image plane into a vehicle-centered three dimensional scene model. The ALV has performed public road-following demonstrations, traveling distances up to 4.5 km at speeds up to 20 km/hr along a paved road, equipped with an RGB video camera with pan/tilt control and a laser range scanner.Keywords
This publication has 8 references indexed in Scilit:
- Robot road following by adaptive color classification and shape trackingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Inverse Perspective of a Road from a Single ImagePublished by Defense Technical Information Center (DTIC) ,1986
- A visual navigation systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Progress in robot road-followingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Outdoor scene analysis using range dataPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Terrain models for an autonomous land vehiclePublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- The Autonomous Land Vehicle (ALV) Preliminary Road-Following DemonstrationPublished by SPIE-Intl Soc Optical Eng ,1985
- Early vision: From computational structure to algorithms and parallel hardwareComputer Vision, Graphics, and Image Processing, 1985