A few methods are presented in this paper to improve a plan-view algorithm for finding roads in images used in autonomous vehicle navigation. The boundary of coordinate transformation is divided into a number of linking trapeziums to follow a bending road, and a fast algorithm is developed to generate a transforming grid in real-time. It is found that a new method of edge detection carried out on a texture image yielded from the plan-view image shows a better performance than that of the usual edge detection directly on the grey level image. Second-order polynomials are used to approximate the road edges, combined with the flexible boundary, improving the capability to follow a bending road.


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    Title :

    A real-time plan-view method for following bending roads


    Additional title:

    Echtzeit-Projektionsmethode zur Wegplansteuerung in Fahrkurven


    Contributors:
    Xian Chen (author) / Dagless, E.L. (author) / Zhang, Shu-jun (author) / Thomas, B.T. (author)


    Publication date :

    1993


    Size :

    6 Seiten, 5 Bilder, 6 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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