Road Tracking Method Suitable for Both Unstructured and Structured Roads

[摘要] 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.

[学科分类] 自动化工程

[关键词] Monocular Colour Camera;Road Tracking;Unstructured Roads;Road Segmentation;Sequential Monte-Carlo;Kalman Filter