Real-Time Autonomous Colour-Based Following of Ill-Defined Roads

Marek Ososinski, Frédéric Labrosse

Research output: Chapter in Book/Report/Conference proceedingConference Proceeding (Non-Journal item)

7 Citations (SciVal)


Autonomous following of ill-defined roads is an important part of visual navigation systems. The majority of current image-based road following methods rely on computationally expensive algorithms. This paper presents an adaptive real-time method based on statistical analysis of the colour of a road surface in a trapezoidal shape that corresponds to the projection of the road on the image plane. Our method is capable of navigating in real-time in a variety of situations, including 90°turns and crossroads, and coping with variable conditions of the road such as surface type and shadows.
Original languageEnglish
Title of host publicationAdvances in Autonomous Robotics
Subtitle of host publicationJoint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012
PublisherSpringer Nature
ISBN (Electronic)978-3-642-32527-4
ISBN (Print)978-3-642-32526-7
Publication statusPublished - 2012


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