Real-Time Autonomous Colour-Based Following of Ill-Defined Roads

  • Marek Ososinski
  • Frédéric Labrosse
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)


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.


Colour Space Road Surface Colour Component Road Width Trapezoidal Shape 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Marek Ososinski
    • 1
  • Frédéric Labrosse
    • 1
  1. 1.Department of Computer ScienceAberystwtyh UniversityAberystwythUK

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