About: Robust detection of shady and highlighted roads for monocular camera based navigation of UGV

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This paper addresses the problem of UGV navigation in various environments and lightning conditions. Previous approaches use a combination of different sensors, or work well, only in scenarios with noticeable road marking or borders. Our robot is used for chemical, nuclear and biological contamination measurement. Thus, to avoid complications with decontamination, only a monocular camera serves as a sensor since it is already equipped. In this paper, we propose a novel approach a fusion of frequency based vanishing point estimation and probabilistically based color segmentation. Detection of a vanishing point, is based on the estimation of a texture flow, produced by a bank of Gabor wavelets and a voting function. Next, the vanishing point defines the training area, which is used for self-supervised learning of color models. Finally, road patches are selected by measuring of the roadness score. A few rules deal with dark cast shadows, overexposed highlights and adaptivity speed. In addition to the rob This paper addresses the problem of UGV navigation in various environments and lightning conditions. Previous approaches use a combination of different sensors, or work well, only in scenarios with noticeable road marking or borders. Our robot is used for chemical, nuclear and biological contamination measurement. Thus, to avoid complications with decontamination, only a monocular camera serves as a sensor since it is already equipped. In this paper, we propose a novel approach a fusion of frequency based vanishing point estimation and probabilistically based color segmentation. Detection of a vanishing point, is based on the estimation of a texture flow, produced by a bank of Gabor wavelets and a voting function. Next, the vanishing point defines the training area, which is used for self-supervised learning of color models. Finally, road patches are selected by measuring of the roadness score. A few rules deal with dark cast shadows, overexposed highlights and adaptivity speed. In addition to the rob (en)
Title	Robust detection of shady and highlighted roads for monocular camera based navigation of UGV Robust detection of shady and highlighted roads for monocular camera based navigation of UGV (en)
skos:prefLabel	Robust detection of shady and highlighted roads for monocular camera based navigation of UGV Robust detection of shady and highlighted roads for monocular camera based navigation of UGV (en)
skos:notation	RIV/00216305:26220/11:PU96251!RIV12-MSM-26220___
http://linked.open...avai/predkladatel	Fakulta elektrotechniky a komunikačních technologií
http://linked.open...avai/riv/aktivita	Z
http://linked.open...avai/riv/aktivity	Z(MSM0021630529)
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Žalud, Luděk Mikšík, Ondřej Jura, Pavel Petyovský, Petr
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Vysoké učení technické v Brně / Fakulta elektrotechniky a komunikačních technologií
http://linked.open...dnocenehoVysledku	227301
http://linked.open...ai/riv/idVysledku	RIV/00216305:26220/11:PU96251
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Adaptation models , Cameras , Estimation , Image color analysis , Roads , Robots , Training (en)
http://linked.open.../riv/klicoveSlovo	Adaptation models Cameras Estimation Image color analysis Roads Robots Training
http://linked.open...ontrolniKodProRIV	[05BCE6F5F4F7]
http://linked.open...v/mistoKonaniAkce	Shanghai
http://linked.open...i/riv/mistoVydani	Shanghai
http://linked.open...i/riv/nazevZdroje	Proceedings of ICRA 2011
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	4 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...UplatneniVysledku	2011
http://linked.open...iv/tvurceVysledku	Žalud, Luděk Jura, Pavel Mikšík, Ondřej Petyovský, Petr
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2011-05-09 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Inteligentní systémy v automatizaci
number of pages	8 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Neuveden
https://schema.org/isbn	978-1-61284-386-5
http://localhost/t...ganizacniJednotka	26220
is http://linked.open...avai/riv/vysledek of	Robust detection of shady and highlighted roads for monocular camera based navigation of UGV Robust detection of shady and highlighted roads for monocular camera based navigation of UGV

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