Robust extraction of shady roads for vision-based UGV navigation

  title={Robust extraction of shady roads for vision-based UGV navigation},
  author={Tue-Cuong Dong-Si and Guo Dong and Chye Hwang Yan and Sim Heng Ong},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper addresses the problem of extracting the road region in different driving environments with dynamic lighting changes. Previous approaches using Gaussian mixture models (GMM) have fixed number of models constructed from sample color data and could not keep models associated with shadows. As a result, although they work in some specific environments, they fail in other environments or in scenes with shadows. In this paper, we propose a new vision-based approach where flexible number of… CONTINUE READING