Robust Horizon Finding Algorithm for Real-Time Autonomous Navigation based on Monocular Vision

Arthur de Miranda Neto (1) , Alessandro Correa Victorino (1) , Isabelle Fantoni (1) , Douglas Eduardo Zampieri (2)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 UNICAMP - Universidade Estadual de Campinas = University of Campinas

Navigation of an Autonomous Vehicle is based on its interaction with the environment, through information acquired by sensors. The perception of the environment is a major issue in autonomous and (semi)-autonomous systems. This work presents the embedded real-time visual perception problem applied to experimental platform. In this way, a robust horizon finding algorithm that finds the horizon line was proposed and applied to generate the navigable area. It permits to investigate dynamically only a small portion of the image (road) ahead of the vehicle. From a dynamic threshold search method based on Otsu segmentation and Hough transform, this system was robust to illumination changes and does not need any contrast adjustments. It can also be used with infrared camera.

Domaines: Automatique / Robotique

Arthur de Miranda Neto, Alessandro Correa Victorino, Isabelle Fantoni, Douglas Eduardo Zampieri. Robust Horizon Finding Algorithm for Real-Time Autonomous Navigation based on Monocular Vision. 14th IEEE International Conference on Intelligent Transportation Systems (ITSC 2011), Oct 2011, Washington DC, United States. pp.532-537. ⟨hal-00657425⟩