Vision-based adaptive and recursive tracking of unpaved roads

Authors
Jeong, H Oh, Y Park, JH Koo, BS Lee, SW
Citation
H. Jeong et al., Vision-based adaptive and recursive tracking of unpaved roads, PATT REC L, 23(1-3), 2002, pp. 73-82
Citations number
12
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
PATTERN RECOGNITION LETTERS
ISSN journal
01678655 → ACNP
Volume
23
Issue
1-3
Year of publication
2002
Pages
73 - 82
Database
ISI
SICI code
0167-8655(200201)23:1-3<73:VAARTO>2.0.ZU;2-G
Abstract
We present an approach to road recognition based on Kalman filtering and EM theory resulting in a fast recursive filter that can adaptively track unpa ved roads. The road model uses linear dynamic equations and an ANN front en d detects road boundaries. Kalman filters construct search neighborhoods an d adapt the ANN to road conditions. The road model adapts to motion dynamic s using EM. Experimental results are presented. (C) 2002 Elsevier Science B .V. All rights reserved.