Intelligent Transportation Systems, …, Jan 1, 2004
This paper presents the current status of the Springrobot autonomous vehicle project, whose main ... more This paper presents the current status of the Springrobot autonomous vehicle project, whose main objective is to develop a safety-warning and driver-assistance system and an automatic pilot for rural and urban traffic environments. This system uses a high precise digital map and a combination of various sensors. The architecture and strategy for the system are briefly described and the details of lane-marking detection algorithms are presented. The R and G channels of the color image are used to form graylevel images. The size of the resulting gray image is reduced and the Sobel operator with a very low threshold is used to get a grayscale edge image. In the adaptive randomized Hough transform, pixels of the gray-edge image are sampled randomly according to their weights corresponding to their gradient magnitudes.
Intelligent Transportation Systems, …, Jan 1, 2004
This paper presents the current status of the Springrobot autonomous vehicle project, whose main ... more This paper presents the current status of the Springrobot autonomous vehicle project, whose main objective is to develop a safety-warning and driver-assistance system and an automatic pilot for rural and urban traffic environments. This system uses a high precise digital map and a combination of various sensors. The architecture and strategy for the system are briefly described and the details of lane-marking detection algorithms are presented. The R and G channels of the color image are used to form graylevel images. The size of the resulting gray image is reduced and the Sobel operator with a very low threshold is used to get a grayscale edge image. In the adaptive randomized Hough transform, pixels of the gray-edge image are sampled randomly according to their weights corresponding to their gradient magnitudes.
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