Experiments of Urban Autonomous Navigation using Lane Tracking Control with Monocular Vision

Title
Experiments of Urban Autonomous Navigation using Lane Tracking Control with Monocular Vision
Authors
서승범강연식노치원강성철
Keywords
모바일 로봇; 자율주행; 차선탐지; 차선인식; 도시환경 자율주행; lane detection; lane following; vision-based control
Issue Date
2009-05
Publisher
제어·로봇·시스템학회논문지 (Journal of Institute of Control, Robotics and Systems Engineering)
Citation
VOL 15, NO 5, 480-487
Abstract
Autonomous Lane detection with vision is a difficult problem because of various road conditions, such as shadowy road surface, various light conditions, and the signs on the road. In this paper we propose a robust lane detection algorithm to overcome shadowy road problem using a statistical method. The algorithm is applied to the vision-based mobile robot system and the robot followed the lane with the lane following controller. In parallel with the lane following controller, the global position of the robot is estimated by the developed localization method to specify the locations where the lane is discontinued. The results of experiments, done in the region where the GPS measurement is unreliable, show good performance to detect and to follow the lane in complex conditions with shades, water marks, and so on.
URI
http://pubs.kist.re.kr/handle/201004/35496
ISSN
1225-9845
Appears in Collections:
KIST Publication > Article
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