基于立体视觉平面单应性的智能车辆可行驶道路边界检测.pdf

39 4 Vol. 39, No. 4 2013 4 ACTA AUTOMATICA SINICA April, 2013 1 1 1 (Advanced driver assistance systems, ADAS) . . (Hidden Markov model, HMM). , Viterbi , , /. . , , , , , , , . . , 2013, 39(4): 371−380 DOI 10.3724/SP.J.1004.2013.00371 Drivable Road Boundary Detection for Intelligent Vehicles Based on Stereovision with Plane-induced Homography GUO Chun-Zhao1 YAMABE Takayuki1 MITA Seiichi1 Abstract Road detection is one of the key issues for intelligent vehicles and advanced driver assistance systems (ADAS). In this paper, we present a stereovision-based approach for estimating the boundary between the drivable road region and the non-road region. It is based on a formulation of stereo with the ground-plane-induced homography in a hidden Markov model (HMM). Under this formulation, we employ the Viterbi algorithm and propose a sophisticated measure of the probability of the state sequence to find the most likely road/non-road boundary. Experimental results on a wide variety of typical but challenging real road scenes have substantiated the effectiveness as well as robustness of the proposed approach. Key words Intelligent vehicles, road detection, stereovision, homography, hidden Markov models, global optimization Citation Chun-Zhao Guo, Takayuki Yamabe, Seiichi Mita. Drivable road boundary detection for intelligent vehicles based on stereovision with plane-induced homography. Acta Automatica Sinica, 2013, 39(4): 371−380 MAP) , , (Clothoid) .