We present a novel tracking algorithm for an autonomous vehicle equipped with a single camera. Given only monocular visual data, our algorithm utilizes projective geometry to compute concise features of the environment. Using these features, road markings are identified by a multi-class classifier. The classification results are then used with a Rao-Blackwellized particle filter to track the vehicle as it moves back and forth across the road. The resulting position tracker is part of a complete, simulated autonomous driving system. The realistic driving video game Need for Speed: Hot Pursuit was used as a vehicle simulation platform, and the autonomous system is shown to perform competitively against the game's automated opponents.
Rapid tracking for autonomous driving with monocular video
01.12.2013
311151 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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