Share Email Print

Proceedings Paper

Robust perception algorithms for road and track autonomous following
Author(s): Vincent Marion; Olivier Lecointe; Cecile Lewandowski; Joel G. Morillon; Romuald Aufrere; Beatrix Marcotegui; Roland Chapuis; Serge Beucher
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales Airborne Systems as the prime contractor, focuses on about 15 robotic themes, which can provide an immediate "operational add-on value." The paper details the "road and track following" theme (named AUT2), which main purpose was to develop a vision based sub-system to automatically detect roadsides of an extended range of roads and tracks suitable to military missions. To achieve the goal, efforts focused on three main areas: (1) Improvement of images quality at algorithms inputs, thanks to the selection of adapted video cameras, and the development of a THALES patented algorithm: it removes in real time most of the disturbing shadows in images taken in natural environments, enhances contrast and lowers reflection effect due to films of water. (2) Selection and improvement of two complementary algorithms (one is segment oriented, the other region based) (3) Development of a fusion process between both algorithms, which feeds in real time a road model with the best available data. Each previous step has been developed so that the global perception process is reliable and safe: as an example, the process continuously evaluates itself and outputs confidence criteria qualifying roadside detection. The paper presents the processes in details, and the results got from passed military acceptance tests, which trigger the next step: autonomous track following (named AUT3).

Paper Details

Date Published: 2 September 2004
PDF: 12 pages
Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); doi: 10.1117/12.542998
Show Author Affiliations
Vincent Marion, Thales Airborne Systems (France)
Olivier Lecointe, Delegation Generale pour l'Armement (France)
Cecile Lewandowski, Thales Airborne Systems (France)
Joel G. Morillon, Thales Airborne Systems (France)
Romuald Aufrere, LASMEA, CNRS (France)
Beatrix Marcotegui, Ctr. de Morphologie Mathematique (France)
Roland Chapuis, LASMEA, CNRS (France)
Serge Beucher, Ctr. de Morphologie Mathematique (France)

Published in SPIE Proceedings Vol. 5422:
Unmanned Ground Vehicle Technology VI
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

© SPIE. Terms of Use
Back to Top