Navigation of an Autonomous Vehicle is based on its interaction with the environment, through information acquired by sensors. The perception of the environment is a major issue in autonomous and (semi)-autonomous systems. This work presents the embedded real-time visual perception problem applied to experimental platform. In this way, a robust horizon finding algorithm that finds the horizon line was proposed and applied to generate the navigable area. It permits to investigate dynamically only a small portion of the image (road) ahead of the vehicle. From a dynamic threshold search method based on Otsu segmentation and Hough transform, this system was robust to illumination changes and does not need any contrast adjustments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust horizon finding algorithm for real-time autonomous navigation based on monocular vision


    Contributors:


    Publication date :

    2011-10-01


    Size :

    1115076 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Autonomous Navigation Algorithm of Monocular UAV Based on Depth Estimation and Robust VIO

    Zhen, XiangYu / Deng, ZhongLiang / Lou, BoYang et al. | IEEE | 2024


    Monocular Vision for Mobile Robot Localization and Autonomous Navigation

    Royer, E. / Lhuillier, M. / Dhome, M. et al. | British Library Online Contents | 2007


    Autonomous Robust Navigation System for MAV Based on Monocular Cameras

    Caldas, Kenny A. Q. / Benevides, Joao R. S. / Inoue, Roberto S. et al. | IEEE | 2022


    Robust monocular vision navigation for spacecraft on-orbit service

    Chun Jiang / Wu, Yun-Hua / Lin-Lin Ge et al. | IEEE | 2016


    Monocular, vision based, autonomous refueling system

    Farag, A. / Dizdarevic, E. / Eid, A. et al. | IEEE | 2002