Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Decision of Road Direction by Polygonal Approximation.

다각근사법을 이용한 도로방향 결정

  • Lim, Young-Cheol (Department of Electrical Engineering, Chonnam National University) ;
  • Park, Jong-Gun (Department of Electrical Engineering, Chonnam National University) ;
  • Kim, Eui-Sun (Department of Electrical Engineering, Chonnam National University) ;
  • Park, Jin-Su (Department of Electrical Engineering, Chonnam National University) ;
  • Park, Chang-Seok (Department of Electrical Engineering, Chonnam National University)
  • Published : 1996.07.22
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Abstract

In this paper, a method of the decision of the road direction for ALV(Autonomous Land Vehicle) road following by region-based segmentation is presented. The decision of the road direction requires extracting road regions from images in real-time to guide the navigation of ALV on the roadway. Two thresholds to discriminate between road and non-road region in the image are easily decided, using knowledge of problem region and polygonal approximation that searches multiple peaks and valleys in histogram of a road image. The most likely road region of the binary image is selected from original image by these steps. The location of a vanishing point to indicate the direction of the road can be obtained applying it to X-Y profile of the binary road region again. It can successfully steer a ALV along a road reliably, even in the presence of fluctuation of illumination condition, bad road surface condition such as hidden boundaries, shadows, road patches, dirt and water stains, and unusual road condition. Pyramid structure also saves time in processing road images and a real-time image processing for achieving navigation of ALV is implemented. The efficacy of this approach is demonstrated using several real-world road images.

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