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.
A real-time plan-view method for following bending roads
Echtzeit-Projektionsmethode zur Wegplansteuerung in Fahrkurven
Intelligent Vehicles, Symposium, 1993 ; 219-224
1993
6 Seiten, 5 Bilder, 6 Quellen
Conference paper
English
A Real-Time Plan-View Method for Following Bending Roads
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