Video road-following for the autonomous land vehicle
نویسندگان
چکیده
We describe the vision system for Alvin, the Autonomous Land Vehicle, addressing in particuly the task of road-following. The system builds symbolic descriptions of the road and obstacle boundaries using both video and range sensors. Road segmentation methods are described for video-based road-following, along with approaches to boundary extraction and the transformation of boundaries in the image plane into a vehicle-centered three dimensional scene model. The ALV has performed public roadfollowing demonstrations, traveling distances up to 4.5 Ian at speeds up to 20 h/hr along a paved road, equipped with an RGB video camera with padtilt control and a laser range scanner.
منابع مشابه
ALVINN: An Autonomous Land Vehicle in a Neural Network
ALVINN (Autonomous Land Vehicle In a Neural Network) is a 3-layer back-propagation network designed for the task of road following. Currently ALVINN takes images from a camera and a laser range finder as input and produces as output the direction the vehicle should travel in order to follow the road. Training has been conducted using simulated road images. Successful tests on the Carnegie Mello...
متن کاملFirst Results in Robot Road-Following
The new Carnegie Mellon Autonomous I and Vehicle group has produced the first demonstrations of road following robots. In this paper we first describe the robots that are part of the CMU Autonomous Land Vehicle project. We next describe the vision system of the CMU ALV. We then present the control algorithms, including a simple and stable control scheme for visual servoing. Finally we discuss o...
متن کاملVision-based autonomous land vehicle guidance in outdoor road environments using combined line and road following techniques
An intelligent approach to autonomous land vehicle (ALV) guidance in outdoor road environments using combined line and road following and color information clustering techniques is proposed. Path lines and road boundaries are selected as reference models, called the line-model and the road-model, respectively. They are used to perform linemodel matching (LMM) and road-model matching (RMM) to lo...
متن کاملA Dynamic Vision Algorithm to Locate a Vehicle on a Nonstructured Road
In this article, we present a method of nonmarked road following that is based on images coming from an onboard monochromatic camera. The principle is based first on a segmentation stage that makes it possible to locate the road area in the image, managing, if possible, the shadows on the roadway. The method is original since the algorithm must be running day as well as night (infrared camera) ...
متن کاملVision-Based Road-Following Using Proportional Navigation
This paper describes a new approach for autonomous guidance along a road for an unmanned air vehicle (UAV) using a visual sensor. A road is defined as any continuous, extended, curvilinear feature, which can include city streets, highways, and dirt roads, as well as forest-fire perimeters, shorelines, and fenced borders. To achieve autonomous road-following, this paper utilizes Proportional Nav...
متن کامل