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Proceedings Paper

Road detection and tracking for autonomous mobile robots
Author(s): Tsai Hong Hong; Christopher Rasmussen; Tommy Chang; Michael Shneier
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Paper Abstract

As part of the Army's Demo III project, a sensor-based system has been developed to identify roads and to enable a mobile robot to drive along them. A ladar sensor, which produces range images, and a color camera are used in conjunction to locate the road surface and its boundaries. Sensing is used to constantly update an internal world model of the road surface. The world model is used to predict the future position of the road and to focus the attention of the sensors on the relevant regions in their respective images. The world model also determines the most suitable algorithm for locating and tracking road features in the images based on the current task and sensing information. The planner uses information from the world model to determine the best path for the vehicle along the road. Several different algorithms have been developed and tested on a diverse set of road sequences. The road types include some paved roads with lanes, but most of the sequences are of unpaved roads, including dirt and gravel roads. The algorithms compute various features of the road images including smoothness in the world model map and in the range domain, and color features and texture in the color domain. Performance in road detection and tracking are described and examples are shown of the system in action.

Paper Details

Date Published: 17 July 2002
PDF: 9 pages
Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); doi: 10.1117/12.474463
Show Author Affiliations
Tsai Hong Hong, National Institute of Standards and Technology (United States)
Christopher Rasmussen, National Institute of Standards and Technology (United States)
Tommy Chang, National Institute of Standards and Technology (United States)
Michael Shneier, National Institute of Standards and Technology (United States)

Published in SPIE Proceedings Vol. 4715:
Unmanned Ground Vehicle Technology IV
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

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