Computer Graphics
TU Braunschweig

The area processing unit of Caroline - Finding the way through DARPA's Urban Challenge


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
Year:2008
Month:February
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