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Proceedings Paper

Autonomous navigation of structured city roads
Author(s): Didier Aubert; Karl C. Kluge; Chuck E. Thorpe
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Paper Abstract

Autonomous road following is a domain which spans a range of complexity from poorly defined unmarked dirt roads to well defined well marked highly struc-. tured highways. The YARF system (for Yet Another Road Follower) is designed to operate in the middle of this range of complexity driving on urban streets. Our research program has focused on the use of feature- and situation-specific segmentation techniques driven by an explicit model of the appearance and geometry of the road features in the environment. We report results in robust detection of white and yellow painted stripes fitting a road model to detected feature locations to determine vehicle position and local road geometry and automatic location of road features in an initial image. We also describe our planned extensions to include intersection navigation.

Paper Details

Date Published: 1 March 1991
PDF: 11 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25463
Show Author Affiliations
Didier Aubert, ITMI (France)
Karl C. Kluge, Carnegie Mellon Univ. (United States)
Chuck E. Thorpe, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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