A hybrid estimation approach for autonomous dirt road following using multiple clothoid segments

  title={A hybrid estimation approach for autonomous dirt road following using multiple clothoid segments},
  author={Michael Manz and Felix von Hundelshausen and Hans-Joachim W{\"u}nsche},
  journal={2010 IEEE International Conference on Robotics and Automation},
In this paper we describe a novel approach to autonomous dirt road following. The algorithm is able to recognize highly curved roads in cluttered color images quite often appearing in offroad scenarios. To cope with large curvatures we apply gaze control and model the road using two different clothoid segments. A Particle Filter incorporating edge and color intensity information is used to simultaneously detect and track the road farther away from the ego vehicle. In addition the particles are… CONTINUE READING
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