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Road Boundary Estimation for Intelligent Vehicles based on Plane Induced Homography and Viterbi Algorithm

Chunzhao Guo, Takayuki Yamabe, Seiichi Mita


Road detection is one of the key issues for intelligent vehicles and unmanned mobile robots. In this paper, we present a stereovision-based approach for estimating the lateral boundaries of the nearly flat road region. The plane induced homography is used to explore the geometry cues of the planar road region. Their boundaries are subsequently estimated by using Viterbi algorithm. Experimental results on a wide variety of typical but challenging real road scenes have substantiated the effectiveness as well as robustness of the proposed approach.

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