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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Sequential Monocular Road Detection by Fusing Appearance and Geometric Information
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Sequential Monocular Road Detection by Fusing Appearance and Geometric Information

机译：融合外观和几何信息的顺序单眼路检测

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摘要

This paper presents a monocular road detection algorithm for outdoor scenes in the driving process of mobile robots, which is an essential problem for autonomous navigation. Both appearance and geometric information are fused for more robust and accurate detection. This paper makes use of the image sequence captured during the driving process. The road segmentation is formulated into a maximum a posteriori estimation problem. The probability distribution is constructed by the image likelihood potential, the spatial smoothness potential, and the temporal smoothness potential. The image likelihood potential is decomposed into the probabilities according to road appearance model, geometric information, and edge preference. The spatial smoothness penalizes uneven segmentation in the image space. The temporal smoothness penalizes inconsistent segmentation during the image sequence. After the road segmentation in image space, a post-processing procedure is performed in the Bird's Eye View for smoother and more accurate road detection. The post-processing is formulated into a parameterized optimization problem considering structure, appearance, and geometry preferences. Experiments are conducted to show the effectiveness of the proposed method.
机译：本文介绍了移动机器人驾驶过程中的户外场景的单眼路面检测算法，这是自主导航的重要问题。外观和几何信息都融合了更强大和准确的检测。本文利用在驾驶过程中捕获的图像序列。道路分割被配制成最大的后验估计问题。概率分布由图像似然电位，空间平滑度电位和时间平滑势构成。根据道路外观模型，几何信息和边缘偏好，图像似然电位分解成概率。空间平滑度惩罚图像空间中的不均匀分割。时间平滑度在图像序列期间惩罚不一致的分割。在图像空间中的道路分割之后，在鸟瞰图中进行后处理程序以进行更光滑和更准确的道路检测。考虑结构，外观和几何偏好，将后处理配制成参数化优化问题。进行实验以显示所提出的方法的有效性。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2019年第2期|633-643|共11页
  • 作者

    Jia Bingxi; Chen Jian; Zhang Kaixiang; Wang Qi;

  • 作者单位

    Zhejiang Univ Coll Control Sci & Engn State Key Lab Ind Control Technol Hangzhou 310027 Zhejiang Peoples R China;

    Zhejiang Univ Coll Control Sci & Engn State Key Lab Ind Control Technol Hangzhou 310027 Zhejiang Peoples R China;

    Zhejiang Univ Coll Control Sci & Engn State Key Lab Ind Control Technol Hangzhou 310027 Zhejiang Peoples R China;

    Zhejiang Univ Coll Control Sci & Engn State Key Lab Ind Control Technol Hangzhou 310027 Zhejiang Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Image appearance; road detection; road geometry;

    机译：图像外观;道路检测;公路几何;

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