This paper presents an approach to visually classifying the high-level geometry of the road ahead of a vehicle as a section with continuous curvature parallel edges or an intersection containing right-angled legs. The default behavior of the system is snake-based tracking of parallel road edges for curvature estimation. A separate process segments the road surface from the background using color appearance characteristics, then classifies the segmented road shape in a rectified view as either a standard section or one of several intersection types ("four-way", "T", "right angle", etc.). Recognition of the proper shape class of the approaching road is a prerequisite for switching between shape templates in order to successfully track road edges as the vehicle travels through intersections.
Road shape classification for detecting and negotiating intersections
01.01.2003
627774 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Drivers' Speed Regulation When Negotiating Intersections
British Library Conference Proceedings | 1990
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