Road Tracking Method Suitable for Both Unstructured and Structured Roads. (11th March 2013)

• Record Type: Journal Article
• Authors: Procházka, Zdeněk
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 3(2013)
• Publication Date: 2013-03-11
• Subjects: Monocular Colour Camera -- Road Tracking -- Unstructured Roads -- Road Segmentation -- Sequential Monte-Carlo -- Kalman Filter; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/55015
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper deals with a problem of road tracking and vehicle positioning based on sequential images captured by a vehicle mounted monocular colour camera. The paper presents a new region-based road tracking method, which is suitable for both structured and unstructured roads. The proposed method is based on our original road segmentation algorithm and estimates road model parameters from measurements obtained by analysis of segmented road region. Although the proposed method is tested over a limited range, evaluation on real image sequences shows promising results for various types of road.