Tracking and Map Formatting of Road Using Unmanned Ground Vehicle
Journal Title: International Journal for Research in Applied Science and Engineering Technology (IJRASET) - Year 2017, Vol 5, Issue 3
Abstract
An unmanned ground vehicle (UGV) has many applications in a variety of fields. Detection and tracking of a specific road in UGV videos play an important role in automatic UGV navigation, traffic monitoring, and is very helpful for constructing road networks for modeling and simulation. In this paper, an efficient road detection and tracking framework in UGV videos is proposed. In particular, a graph-cut–based detection approach is given to accurately extract a specified road region during the initialization stage and in the middle of tracking process, and a fast homography-based tracking scheme is developed to automatically tracking road areas. The high efficiency of our framework is attributed to two aspects: the road detection is performed only when needed and most work in locating the road is rapidly done via very fast homography-based tracking. Experiments are conducted on UGV videos of real road scenes we captured and downloaded from the Internet. The astonishing results indicate the effectiveness of our proposed work, with the precision of 98.4% and 1046 × 595 videos on average with processing 34 frames per second.
Authors and Affiliations
B. Suresh Kumar, G. Kadhirve, S. Balakrishnan
Keywords
Related Articles
- EP ID EP23218
- DOI http://doi.org/10.22214/ijraset.2017.3021
- Views 232
- Downloads 7
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