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Proceedings Paper

Color Road Segmentation And Video Obstacle Detection
Author(s): Matthew A. Turk; Martin Marra
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Paper Abstract

The primary vision task in road-following for a mobile robot is to provide a description of the road environment, including possible obstacles on the road. Techniques are presented for road segmentation and obstacle detection based on color video data. Using constraints on road characteristics in the image space and in 3D color space, the road is extracted and represented by its edges. Assuming vehicle movement, obstacles are detected at a distance and an obstacle avoidance mode is entered.

Paper Details

Date Published: 25 February 1987
PDF: 7 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937792
Show Author Affiliations
Matthew A. Turk, Martin Marietta Denver Aerospace (United States)
Martin Marra, Martin Marietta Denver Aerospace (United States)


Published in SPIE Proceedings Vol. 0727:
Mobile Robots I
Nelson Marquina; William J. Wolfe, Editor(s)

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