Robust Unstructured Road Detection: The Importance of Contextual Information. (27th March 2013)
- Record Type:
- Journal Article
- Title:
- Robust Unstructured Road Detection: The Importance of Contextual Information. (27th March 2013)
- Main Title:
- Robust Unstructured Road Detection: The Importance of Contextual Information
- Authors:
- Shang, Erke
An, Xiangjing
Li, Jian
Ye, Lei
He, Hangen - Abstract:
- Unstructured road detection is a key step in an unmanned guided vehicle (UGV) system for road following. However, current vision-based unstructured road detection algorithms are usually affected by continuously changing backgrounds, different road types (shape, colour), variable lighting conditions and weather conditions. Therefore, a confidence map of road distribution, one of contextual information cues, is theoretically analysed and experimentally generated to help detect unstructured roads. Two traditional algorithms, support vector machine (SVM) and k-nearest neighbour (KNN), are carried out to verify the helpfulness of the proposed confidence map. Following this, a novel algorithm, which combines SVM, KNN and the confidence map under a Bayesian framework, is proposed to improve the overall performance of the unstructured road detections. The proposed algorithm has been evaluated using different types of unstructured roads and the experimental results show its effectiveness.
- Is Part Of:
- International journal of advanced robotic systems. Volume 10:Number 3(2013)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 10:Number 3(2013)
- Issue Display:
- Volume 10, Issue 3 (2013)
- Year:
- 2013
- Volume:
- 10
- Issue:
- 3
- Issue Sort Value:
- 2013-0010-0003-0000
- Page Start:
- Page End:
- Publication Date:
- 2013-03-27
- Subjects:
- Unstructured Road Detection -- Confidence Map Of Road Distribution -- Support Vector Machine -- K-Nearest Neighbour Algorithm
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.5772/55560 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 24520.xml