Auxiliary functions in dynamic programming for smoothed road detection

Nicolas Merlet; Josiane B. Zerubia

doi:10.1117/12.248540

26 August 1996 Auxiliary functions in dynamic programming for smoothed road detection

Nicolas Merlet, Josiane B. Zerubia

Proceedings Volume 2785, Vision Systems: New Image Processing Techniques; (1996) https://doi.org/10.1117/12.248540
Event: Lasers, Optics, and Vision for Productivity in Manufacturing I, 1996, Besancon, France

Abstract

Shape information is useful in road detection to improve the rightness and smoothness of the results. In previous work, we defined a potential on k successive pixels to integrate curvature by dynamic programming, but the complexity is exponential in k. In the present work, we store instead in an auxiliary image the global direction vector V(M) followed in the current shortest path. The potential at a point M is defined as the sum of a potential of gray-level and contrast (phi) ₁(M,N), where N is a neighbor of M, and of an increasing potential of the angle between vector V(N) and N vector M. Pixels prolongating the current shortest path are favored. When the energy U obtained on M with respect to N is smaller than the previous value of U(M), vector V(M) is updated as a linear combination of vector V(N) and N vector M: the location of M modifies the global direction of the path. U(M) is updated as well. Another solution is to store in the auxiliary image the center of the circle tangent to the current shortest path, and we compare both methods. The optimality principle is not verified anymore with the auxiliary functions but they give smoother results without increasing the complexity.

Citation Download Citation

Nicolas Merlet and Josiane B. Zerubia "Auxiliary functions in dynamic programming for smoothed road detection", Proc. SPIE 2785, Vision Systems: New Image Processing Techniques, (26 August 1996); https://doi.org/10.1117/12.248540

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