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2008

An extended hyperbola model for road tracking for video-based personal navigation

9 years 2 months ago
An extended hyperbola model for road tracking for video-based personal navigation
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.
Li Bai, Yan Wang, Michael C. Fairhurst
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2008
Where KBS
Authors Li Bai, Yan Wang, Michael C. Fairhurst
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