H. Schneiderman et M. Nashman, A DISCRIMINATING FEATURE TRACKER FOR VISION-BASED AUTONOMOUS DRIVING, IEEE transactions on robotics and automation, 10(6), 1994, pp. 769-775
A new vision-based technique for autonomous driving is described. This
approach explicitly addresses and compensates for two forms of uncert
ainty: uncertainty about changes in road direction and uncertainty in
the measurements of the road derived in each image. Autonomous driving
has been demonstrated on both local roads and highways at speeds up t
o 100 km/h. The algorithm has performed well in the presence of non-id
eal road conditions including gaps in the lane markers, sharp curves,
shadows, cracks in the pavement, and wet roads. It has also performed
well in rain, dusk, and nighttime driving with headlights.