论文标题
使用RGB摄像机在白雪森林环境中的道路检测
Road Detection in Snowy Forest Environment using RGB Camera
论文作者
论文摘要
在过去的几年中，自动驾驶技术已有很多动力。对于探索字段，导航是自动操作的重要关键。在诸如雪地环境之类的困难情况下，道路被雪覆盖，在这种情况下，仅使用基本技术就不可能进行道路检测。本文使用RGB摄像机在森林环境中介绍了雪道的检测。该方法将噪声过滤技术与形态操作结合在一起，以对图像组件进行分类。通过假设所有道路都被雪覆盖，雪部分被定义为道路区域。从道路的角度来看，道路的消失点是范围范围的因素之一。通过合适的三角技术发现了这个消失点。算法的性能通过两个误差值进行评估：假负率和假阳性率。该错误表明该方法具有很高的效率，可检测道路，但弯曲道路的性能较低。该道路区域将使用相机的深度信息应用，以检测未来工作的障碍。
Automated driving technology has gained a lot of momentum in the last few years. For the exploration field, navigation is the important key for autonomous operation. In difficult scenarios such as snowy environment, the road is covered with snow and road detection is impossible in this situation using only basic techniques. This paper introduces detection of snowy road in forest environment using RGB camera. The method combines noise filtering technique with morphological operation to classify the image component. By using the assumption that all road is covered by snow and the snow part is defined as road area. From the perspective image of road, the vanishing point of road is one of factor to scope the region of road. This vanishing point is found with fitting triangle technique. The performance of algorithm is evaluated by two error value: False Negative Rate and False Positive Rate. The error shows that the method has high efficiency for detect road with straight road but low performance for curved road. This road region will be applied with depth information from camera to detect for obstacle in the future work.
