The area processing unit of Caroline - Finding the way through DARPA's Urban Challenge
This paper presents a vision-based color segmentation algorithm suitable for urban environments that separates an image into areas of drivable and non-drivable terrain. Assuming that a part of the image is known to be drivable terrain, other parts of the image are classified by comparing the Euclidean distance of each pixel's color to the mean colors of the drivable area in real-time. Moving the search area depending on each frame's result ensures temporal consistency and coherence.
Furthermore, the algorithm classifies artifacts such as white and yellow
lane markings and hard shadows as areas of unknown drivability. The
algorithm was thoroughly tested on the autonomous vehicle 'Caroline',
which was a finalist in the 2007 DARPA Urban Challenge.
| Author(s): | Kai Berger, Christian Lipski, Christian Linz, Timo Stich, Marcus Magnor |
|---|---|
| Published: | February 2008 |
| Type: | Article in conference proceedings |
| Book: | Proc. 2nd Workshop Robot Vision (RobVis 2008) |
| Presented at: | 2nd Workshop Robot Vision (RobVis) |
| Project(s): | Computer Vision Algorithms for the DARPA Urban Challenge 2007 |
@inproceedings{Berger08Area,
title = {The area processing unit of Caroline - Finding the way through {DARPA}'s Urban Challenge},
author = {Berger, Kai and Lipski, Christian and Linz, Christian and Stich, Timo and Magnor, Marcus},
booktitle = {Proc. 2nd Workshop Robot Vision (RobVis 2008)},
month = {Feb},
year = {2008}
}Authors
Kai Berger
Fmr. ResearcherChristian Lipski
Fmr. Senior ResearcherChristian Linz
Fmr. ResearcherTimo Stich
Fmr. ResearcherMarcus Magnor
Director, Chair