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PETYOVSKÝ, P. MIKŠÍK, O. ŽALUD, L. JURA, P.
Original Title
Robust detection of shady and highlighted roads for monocular camera based navigation of UGV
Type
conference paper
Language
English
Original Abstract
This paper addresses the problem of UGV navigation in various environments and lightning conditions. Previous approaches use a combination of different sensors, or work well, only in scenarios with noticeable road marking or borders. Our robot is used for chemical, nuclear and biological contamination measurement. Thus, to avoid complications with decontamination, only a monocular camera serves as a sensor since it is already equipped. In this paper, we propose a novel approach a fusion of frequency based vanishing point estimation and probabilistically based color segmentation. Detection of a vanishing point, is based on the estimation of a texture flow, produced by a bank of Gabor wavelets and a voting function. Next, the vanishing point defines the training area, which is used for self-supervised learning of color models. Finally, road patches are selected by measuring of the roadness score. A few rules deal with dark cast shadows, overexposed highlights and adaptivity speed. In addition to the robustness of our system, it is easy-to-use since no calibration is needed.
Keywords
Adaptation models , Cameras , Estimation , Image color analysis , Roads , Robots , Training
Authors
PETYOVSKÝ, P.; MIKŠÍK, O.; ŽALUD, L.; JURA, P.
RIV year
2011
Released
10. 5. 2011
Location
Shanghai
ISBN
978-1-61284-386-5
Book
Proceedings of ICRA 2011
Edition
1
Edition number
Pages from
64
Pages to
71
Pages count
8
BibTex
@inproceedings{BUT76566, author="Petr {Petyovský} and Ondřej {Mikšík} and Luděk {Žalud} and Pavel {Jura}", title="Robust detection of shady and highlighted roads for monocular camera based navigation of UGV", booktitle="Proceedings of ICRA 2011", year="2011", series="1", number="1", pages="64--71", address="Shanghai", isbn="978-1-61284-386-5" }