Visual road following using intrinsic images

Tomas Krajnik, Jan Blazicek, Joao M. Santos
2015 2015 European Conference on Mobile Robots (ECMR)  
We present a real-time visual-based road following method for mobile robots in outdoor environments. The approach combines an image processing method, that allows to retrieve illumination invariant images, with an efficient path following algorithm. The method allows a mobile robot to autonomously navigate along pathways of different types in adverse lighting conditions using monocular vision. To validate the proposed method, we have evaluated its ability to correctly determine boundaries of
more » ... hways in a challenging outdoor dataset. Moreover, the method's performance was tested on a mobile robotic platform that autonomously navigated long paths in urban parks. The experiments demonstrated that the mobile robot was able to identify outdoor pathways of different types and navigate through them despite the presence of shadows that significantly influenced the paths' appearance.
doi:10.1109/ecmr.2015.7324212 dblp:conf/ecmr/KrajnikBS15 fatcat:gx4n5zuyjzhubnspbt4cjmaoqa