Autonomous following of ill-defined roads is an important part of visual navigation systems. This paper presents an adaptive method that uses a statistical model of the color of the road surface within a trapezoidal shape that approximately corresponds to the projection of the road on the image plane. The method does not perform an explicit segmentation of the images but instead expands the shape sideways until the match between shape and road worsens, simultaneously computing the color statistics. Results show that the method is capable of reactively following roads, at driving speeds typical of the robots used, in a variety of situations while coping with variable conditions of the road such as surface type, puddles, and shadows. We extensively evaluate the proposed method using a large number of datasets with ground truth (available from http://www.aber.ac.uk/en/cs/research/ir/dss/). We moreover evaluate many color spaces in the context of road following, and we find that the color spaces that separate luminance from color information perform best, especially if the luminance information is discarded.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Automatic Driving on Ill-defined Roads: An Adaptive, Shape-constrained, Color-based Method


    Contributors:

    Published in:

    Journal of Field Robotics ; 32 , 4 ; 504-533


    Publication date :

    2015


    Size :

    30 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    A Color Vision-Based Lane Tracking System for Autonomous Driving on Unmarked Roads

    Sotelo, M. A. / Rodriguez, F. J. / Magdalena, L. et al. | British Library Online Contents | 2004


    Active sensing system for cooperative automatic driving of vehicles and roads

    RAN BIN / CHENG YANG / TAN HUACHUN et al. | European Patent Office | 2020

    Free access

    Finite-state machine-based automatic driving vehicle trajectory planning method for ice and snow roads

    ZHENG HAOTIAN / WANG JIANQIANG / XU QING et al. | European Patent Office | 2023

    Free access

    Working vehicle applied to automatic driving marking of various roads

    TANG YUNCHAO / LIU TAO / YANG YONGMIN et al. | European Patent Office | 2022

    Free access

    Image Based Automatic Road Surface Crack Detection for Achieving Smooth Driving on Deformed Roads

    Premachandra, Chinthaka / Waruna, H. / Premachandra, H. et al. | IEEE | 2013