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ICVS
2009
Springer

Real-Time Traversable Surface Detection by Colour Space Fusion and Temporal Analysis

10 years 4 months ago
Real-Time Traversable Surface Detection by Colour Space Fusion and Temporal Analysis
Abstract. We present a real-time approach for traversable surface detection using a low-cost monocular camera mounted on an autonomous vehicle. The proposed methodology extracts colour and texture information from various channels of the HSL, YCbCr and LAB colourspaces by temporal analysis in order to create a traversability map. On this map lighting and water artifacts are eliminated including shadows, reections and water prints. Additionally, camera vibration is compensated by temporal ltering leading to robust path edge detection in blurry images. The performance of this approach is extensively evaluated over varying terrain and environmental conditions and the eect of colourspace fusion on the system's precision is analysed. The results show a mean accuracy of 97% over this comprehensive test set.
Ioannis Katramados, Steve Crumpler, Toby P. Brecko
Added 26 May 2010
Updated 26 May 2010
Type Conference
Year 2009
Where ICVS
Authors Ioannis Katramados, Steve Crumpler, Toby P. Breckon
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