Road Edge Extraction Using a Plan-View Image Transformation

摘要

A new technique to extract road edges in the road-following algorithm for autonomous road vehicle navi-gation is described. It is based on finding road edges on a subsampled plan-view of a portion of the road ahead of the vehicle. The method is illustrated in the real-time identification of road edges using a fast vertical edge de-tector and link operator applied to the transformed plan view. Location of both road edges at 20 frames per sec-ond is demonstrated. Research on autonomous navigation of robot vehicles has been increasing in the last few years 1'2>3. Part of this research consists of identifying the road from a digitised image received by a camera positioned on the robot ve-hicle. The problem of identifying roads to drive an autonomous