Unstructured road detection based on hybrid features
(0) Unstructured road detection is a key step of the Unmanned Guided Vehicle (UGV) system for road following.In traditional methods,kinds of features are combined to improve the effect,but few of them explains the reason to choose feature descriptors.In this paper,we try to find a way that how to choose feature descriptors.First,support vector machine technology is used to analyze the importance among these common feature descriptors during the road detection process.A series of features are analyzed to show their ability to detect road surface from background.Then,a mass of experiment results verify the correct of our analysis.At last,a novel unstructured road detection algorithm based on hybrid features is proposed.Experiments conducted on actual roads illustrate the effective performance of the proposed algorithm.
unstructured road detection feature descriptor support vector machine
Erke Shang Xiangjing An Lei Ye Meiping Shi Hongtao Xue Hangen He
College of Mechatronics Engineering and Automation National University of Defense Technology Changsha, Hunan, China
国际会议
太原
英文
926-929
2012-12-08（万方平台首次上网日期，不代表论文的发表时间）