This paper studies vision-based road detection for a robot’s path following in off-road environments. We define the problem as detecting the region in front of the robot that is mechanically traversable (i.e., mechanical traversability), that is apt to be chosen by a human to drive through (i.e., human selection), and that extends for a distance to show the road’s direction, shape, or even network of the intersection ahead (i.e., far-field capability). An algorithm framework is designed that contains two parts: inference and learning. In inference, the problem is formulated as a consecutive road type classification and road region segmentation to address the diversity of terrain surfaces. In model learning, the robot is first driven by a human being, with image samples on the track of the robot being collected that meet the prerequisites of both mechanical traversability and human selection. Evaluation measures are defined to examine the three requirements of mechanical traversability, human selection, and far-field capability. The performances of the above aspects are demonstrated on a data set using LiDAR, track and manual references, which will be released together with this publication.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Scene-Adaptive Off-Road Detection Using a Monocular Camera


    Contributors:
    Mei, Jilin (author) / Yu, Yufeng (author) / Zhao, Huijing (author) / Zha, Hongbin (author)


    Publication date :

    2018-01-01


    Size :

    4823218 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    MOVING OBJECT DETECTION METHOD IN DYNAMIC SCENE USING MONOCULAR CAMERA

    JEONG HONG / HA JEONG MOK / JUN WOO YEOL | European Patent Office | 2018

    Free access

    Local Scene Depth Estimation Using Rotating Monocular Camera

    Thomas, Sonu / Kutty, Krishnan / Senthamilarasu, Vinuchackravarthy | British Library Conference Proceedings | 2015


    Local Scene Depth Estimation Using Rotating Monocular Camera

    Kutty, Krishnan / Thomas, Sonu / Senthamilarasu, Vinuchackravarthy | SAE Technical Papers | 2015


    Local scene depth estimation using rotating monocular camera

    Thomas,S. / Kutty,K. / Senthamilarasu,V. et al. | Automotive engineering | 2015


    Road Curb Detection and Localization With Monocular Forward-View Vehicle Camera

    Panev, Stanislav / Vicente, Francisco / De la Torre, Fernando et al. | IEEE | 2019