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Tracking road edges in the panospheric image plane

Corke, Peter, Symeonidis, Dimitris, & Usher, Kane (2003) Tracking road edges in the panospheric image plane. In Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003 (IROS 2003), IEEE, Las Vegas, Nevada, USA, pp. 1330-1335.

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    Abstract

    This paper presents a technique for tracking road edges in a panoramic image sequence. The major contribution is that instead of unwarping the image to find parallel lines representing the road edges, we choose to warp the parallel groundplane lines into the image plane of the equiangular panospheric camera. Updating the parameters of the line thus involves searching a very small number of pixels in the panoramic image, requiring considerably less computation than unwarping. Results using real-world images, including shadows, intersections and curves, are presented.

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    ID Code: 33860
    Item Type: Conference Paper
    Keywords: curves, real-world images, parallel groundplane lines, road edges tracking, panospheric image plane, equiangular panospheric camera, intersections, panoramic image sequence, shadows, cameras, position control, mobile robots, navigation, road vehicles, roads, robot vision, tracking
    DOI: 10.1109/IROS.2003.1248829
    ISBN: 0780378601 Print
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2003 IEEE
    Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
    Deposited On: 01 Oct 2010 10:19
    Last Modified: 11 Aug 2011 03:43

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