کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
403199 | 677065 | 2008 | 8 صفحه PDF | دانلود رایگان |

We present a robust road detection and tracking method using multiple vanishing points and the condensation filter. We represent the road using an extended hyperbola model with an added non-linear term to handle transitions between straight and curved road segments. The parameters of the road model are estimated using multiple vanishing points located in road segments. A vanishing line is then determined using a robust iterative curve fitting technique to recover parameters of the road model. These are then fed into a robust condensation tracker [M. Isard, A. Blake, Condensation: conditional density propagation for visual tracking, Int. J. Comput. Vision, 1998] to track the road. The tracker is able to deal with difficult road conditions. Experiments using real road videos demonstrate the suitability of our approach for real-time applications. A comparison with the Kalman filtering technique demonstrates the robustness of our approach.
Journal: Knowledge-Based Systems - Volume 21, Issue 3, April 2008, Pages 265–272