Real-Time Autonomous Colour-Based Following of Ill-Defined Roads
Autonomous following of ill-defined roads is an important part of visual navigation systems. The majority of current image-based road following methods rely on computationally expensive algorithms. This paper presents an adaptive real-time method based on statistical analysis of the colour of a road surface in a trapezoidal shape that corresponds to the projection of the road on the image plane. Our method is capable of navigating in real-time in a variety of situations, including 90°turns and crossroads, and coping with variable conditions of the road such as surface type and shadows.
KeywordsColour Space Road Surface Colour Component Road Width Trapezoidal Shape
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