4 May 1993 Comparison of color image segmentations for lane following
Author Affiliations +
Proceedings Volume 1831, Mobile Robots VII; (1993); doi: 10.1117/12.143816
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
For ten years, unstructured road following has been the subject of many studies. Road following must support the automatic navigation, at reasonable speed, of mobile robots on irregular paths and roads, with unhomogeneous surfaces and under variable lighting conditions. Civil and military applications of this technology include transportation, logistics, security and engineering. The definition of our lane following system requires an evaluation of the existing technologies. Although the various operational systems converge on a color perception and a region segmentation optimizing discrimination and stability respectively, the treatments and performances vary. In this paper, the robustness of four operational systems and two connected techniques are compared according to common evaluation criteria. We identify typical situations which constitute a basis for the realization of an image database. We describe the process of experimentation conceived for the comparative analysis of performances. The analytical results are useful in order to infer a few optimal combinations of techniques driven by the situations, and to define the present limits of the color perception's validity.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Frederic Sandt, Didier Aubert, "Comparison of color image segmentations for lane following", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143816; https://doi.org/10.1117/12.143816


Image segmentation

Mobile robots

Systems modeling

Fourier transforms

Color vision

Navigation systems


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