This work treats a problem relevant to automatic road following, collision avoidance, and maneuver control. A millimeter-wave radar is placed on the front of the vehicle and an image of the radar backscatter of the terrain is acquired in polar coordinates. This image contains both road and off-road scatter components which must be segmented from each other. Geometric constraints on the road edg...

This chapter describes detection and tracking of moving objects (DATMO) for purposes of autonomous driving. DATMO provides awareness of road scene participants, which is important in order to make safe driving decisions and abide by the rules of the road. Three main classes of DATMO approaches are identified and discussed. First is the traditional approach, which includes data segmentation, dat...

In this paper, a unique approach for road extraction utilizing pixel spectral information for classification and image segmentation-derived object features was developed. In this approach, road extraction was performed in two steps. In the first step, support vector machine (SVM) was employed merely to classify the image into two groups of categories: a road group and a non-road group. For this...

Last years witnessed the growth of demand for road monitoring systems based on image or video analysis. These systems usually consist of a survey vehicle equipped with photo and video cameras, laser scanners and other instruments. Sensors mounted on the van collect different types of data while the vehicle goes along the road. Recorded video can be geographically referenced with the help of glo...

We report progress in visual road following by autonomous robot vehicles. We present results and work in progress in the areas of system architecture, image rectification and camera calibration, oriented edge tracking, color classification and road-region segmentation, extracting geometric structure. and the use of a map. In test runs of an outdoor robot vehicle, the Terregator, under control o...

E ver since the establishment of cell theory in the early 19th century, which recognized the cell as the fundamental building unit of life, biologists have sought to explain the underlying principles. Momentous discoveries were made in the course of many decades of research [1], but the quest to attain full understanding of cellular mechanisms and how to manipulate them to improve health, conti...

Obstacle detection is a fundamental technological enabler for autonomous driving and vehicle active safety applications. While dense laser scanners are best suitable for the task (e.g. Google’s self driving car), camera-based systems, which are significantly less expensive, continue to improve. Stereo-based commercial solutions such as Daimler’s “intelligent drive” are good at general obstacle ...

This paper describes an approach of lane boundary detection especially for country roads elds by artiicial vision. It uses statistical criteria such as energy, homogeneity, contrast etc. to distinguish between road and non-road-area. To model the borders of the road and to accelerate the method, we combine it with a model based image segmentation technique. The model is adapted to the found lan...