Combining Laser Range, Color, and Texture Cues for Autonomous Road Following

Published

May 1, 2002

Author(s)

C E. Rasmussen

Abstract

We describe preliminary results on combining depth information from a laser range-finder and color and texture image cues to train classifiers to segment ill-structured dirt, gravel, and asphalt roads as input to an autonomous road following system. A large number of registered laser and camera images were captured at frame-rate on a variety of rural roads, allowing laser features such as 3-D height and smoothness to be correlated with image features such color histograms and Gabor filter responses. A small set of road models were generated by training separate neural networks on labeled feature vectors clustered by road ``type.'' By first classifying the type of a novel road image, an appropriate second-stage classifier was selected to segment individual pixels, achieving a high degree of accuracy on arbitrary images from the dataset.

Proceedings Title

Proc. IEEE Inter. Conf. on Robotics & Automation

Conference Dates

May 1, 2002

Conference Location

Washington DC, MD

Conference Title

Robotics & Automation

Pub Type

Conferences

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Local Download

Keywords

classification, color histogram, Gabor filter, k-means clustering, laser range finder, neural network, road following, road segmentation

Citation

Rasmussen, C. (2002), Combining Laser Range, Color, and Texture Cues for Autonomous Road Following, Proc. IEEE Inter. Conf. on Robotics & Automation, Washington DC, MD, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=821641 (Accessed April 25, 2024)