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Proceedings Paper

Nonreconstruction approach for road following
Author(s): Daniel Raviv; Martin Herman
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Paper Abstract

This paper presents a new approach for vision-based autonomous road following. By building on a recently developed optical-flow-based theory, we suggest that motion commands can be generated directly from a visual feature, or cue, consisting of the projection into the image of the tangent point on the edge of the road, along with the optical flow of this point. Using this visual cue, there is no need to reconstruct the 3-D scene, and the related computations are relatively simple. We suggest some vision-based partial control algorithms for both circular and non-circular roads.

Paper Details

Date Published: 1 March 1992
PDF: 11 pages
Proc. SPIE 1608, Intelligent Robots and Computer Vision X: Neural, Biological, and 3-D Methods, (1 March 1992); doi: 10.1117/12.135077
Show Author Affiliations
Daniel Raviv, Florida Atlantic Univ. (United States)
Martin Herman, National Institute of Standards and Technology (United States)


Published in SPIE Proceedings Vol. 1608:
Intelligent Robots and Computer Vision X: Neural, Biological, and 3-D Methods
David P. Casasent, Editor(s)

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