Stereo-based road boundary tracking for mobile robot navigation

Abstract

This paper describes a method of stereo-based road boundary tracking for mobile robot navigation. Since sensory evidence for road boundaries might change from place to place, we cannot depend on a single cue but have to use multiple sensory features. The method uses color, edge, and height information obtained from a single stereo camera. To cope with a variety of road types and shapes and that of their changes, we adopt a particle filter in which road boundary hypotheses are represented by particles. The proposed method has been tested in various road scenes and conditions, and verified to be effective for autonomous driving of a mobile robot.