A Color Vision-Based Lane Tracking System for Autonomous Driving on Unmarked Roads

Authors: Sotelo M.A.¹; Rodriguez F.J.²; Magdalena L.³; Bergasa L.M.⁴; Boquete L.⁵

Source: Autonomous Robots, Volume 16, Number 1, January 2004 , pp. 95-116(22)

Publisher: Springer

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Abstract:

This work describes a color Vision-based System intended to perform stable autonomous driving on unmarked roads. Accordingly, this implies the development of an accurate road surface detection system that ensures vehicle stability. Although this topic has already been documented in the technical literature by different research groups, the vast majority of the already existing Intelligent Transportation Systems are devoted to assisted driving of vehicles on marked extra urban roads and highways. The complete system was tested on the BABIECA prototype vehicle, which was autonomously driven for hundred of kilometers accomplishing different navigation missions on a private circuit that emulates an urban quarter. During the tests, the navigation system demonstrated its robustness with regard to shadows, road texture, and weather and changing illumination conditions.

Keywords: color vision-based lane tracker; unmarked roads; unsupervised segmentation

Document Type: Research article

DOI: http://dx.doi.org/10.1023/B:AURO.0000008673.96984.28

Affiliations: 1: Department of Electronics, University of Alcala, Alcalá de Henares, Madrid, Spain, Email: michael@depeca.uah.es 2: Department of Electronics, University of Alcala, Alcalá de Henares, Madrid, Spain., Email: fjrs@depeca.uah.es 3: Department of Applied Mathematics, Technical University, Madrid, Spain., Email: llayos@mat.upm.es 4: Department of Electronics, University of Alcala, Alcalá de Henares, Madrid, Spain., Email: bergasa@depeca.uah.es 5: Department of Electronics, University of Alcala, Alcalá de Henares, Madrid, Spain., Email: luciano@depeca.uah.es

Publication date: 2004-01-01