Nonreconstruction approach for road following

Daniel Raviv; Martin Herman

doi:10.1117/12.135077

1 March 1992 Nonreconstruction approach for road following

Daniel Raviv, Martin Herman

Proceedings Volume 1608, Intelligent Robots and Computer Vision X: Neural, Biological, and 3-D Methods; (1992) https://doi.org/10.1117/12.135077
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

This paper presents a new approach for vision-based autonomous road following. By building on a recently developed optical-flow-based theory, we suggest that motion commands can be generated directly from a visual feature, or cue, consisting of the projection into the image of the tangent point on the edge of the road, along with the optical flow of this point. Using this visual cue, there is no need to reconstruct the 3-D scene, and the related computations are relatively simple. We suggest some vision-based partial control algorithms for both circular and non-circular roads.

Citation Download Citation

Daniel Raviv and Martin Herman "Nonreconstruction approach for road following", Proc. SPIE 1608, Intelligent Robots and Computer Vision X: Neural, Biological, and 3-D Methods, (1 March 1992); https://doi.org/10.1117/12.135077

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