Color road segmentation for autonomous land vehicle (ALV) road following

Lei-Jian Liu; Yong-Ge Wu; Ke Liu; Jingyu Yang

doi:10.1117/12.167510

1 February 1994 Color road segmentation for autonomous land vehicle (ALV) road following

Lei-Jian Liu, Yong-Ge Wu, Ke Liu, Jingyu Yang

Proceedings Volume 2058, Mobile Robots VIII; (1994) https://doi.org/10.1117/12.167510
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

As the efficiency of road segmentation has a direct effect on the reliability of road following and planning -- and consequently the speed of the Autonomous Land Vehicle (ALV) -- road segmentation is one of the most preliminary and important tasks for the road following and planning of ALV, and a variety of methods for color road segmentation have been proposed. This presentation proposes a new data-fusion-based color road segmentation method in which a pyramid-based data structure and the corresponding region splitting and combination techniques for the classification of sensed areas are adopted. In the segmentation process, the roads are first segmented in two 1-D color spaces, and the data fusion technique is then used to combine the two classification results, improving the accuracy of the road segmentation.

Citation Download Citation

Lei-Jian Liu, Yong-Ge Wu, Ke Liu, and Jingyu Yang "Color road segmentation for autonomous land vehicle (ALV) road following", Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); https://doi.org/10.1117/12.167510

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